From: Erik Andresen <erik@vontaene.de>
Date: Sat, 7 Jan 2017 19:43:02 +0000 (+0100)
Subject: tune slam gmapping
X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=670ead7985c1c4df661d9e95e20a0b805c0347f8

tune slam gmapping
---

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index b48a72f..0ce322b 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -8,14 +8,21 @@ TrajectoryPlannerROS:
 
   acc_lim_x: 10.07
   acc_lim_y: 0.0
-  acc_lim_theta: 12.00
+  acc_lim_theta: 6.00
 
   holonomic_robot: false
+  # gdist_scale and pdist_scale parameters should assume meters
   meter_scoring: true
 
   xy_goal_tolerance: 0.20
   yaw_goal_tolerance: 0.3
 
+  # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01
+  occdist_scale: 0.02
+
+  # Whether to score based on the robot's heading to the path or its distance from the path, default: false
+  heading_scoring: true
+
 DWAPlannerROS:
   acc_lim_x: 10.07
   acc_lim_y: 0.0
diff --git a/config/costmap_common_params.yaml b/config/costmap_common_params.yaml
index 674c1cc..5662912 100644
--- a/config/costmap_common_params.yaml
+++ b/config/costmap_common_params.yaml
@@ -7,7 +7,7 @@ obstacle_layer:
   laser_scan_sensor: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: scan, marking: true, clearing: true}
 
 inflation_layer:
-  inflation_radius: 0.25
+  inflation_radius: 0.20
 
 range_layer:
   topics: ["/range_forward", "/range_backward", "/range_left", "/range_right"]
diff --git a/config/costmap_exploration.yaml b/config/costmap_exploration.yaml
index 6368563..84c88ef 100644
--- a/config/costmap_exploration.yaml
+++ b/config/costmap_exploration.yaml
@@ -22,13 +22,8 @@ static_layer:
   # map_topic: move_base/global_costmap/costmap
   subscribe_to_updates: true
 
-range_layer:
-  topics: ["/range_forward", "/range_backward"]
-  no_readings_timeout: 1.0
-  clear_on_max_reading: true
-
 explore_boundary:
   resize_to_boundary: false
   frontier_travel_point: middle
   # set to false for gmapping, true if re-exploring a known area
-  explore_clear_space: true
+  explore_clear_space: false
diff --git a/launch/exploration.launch b/launch/exploration.launch
index 4df3aee..6d8e4de 100644
--- a/launch/exploration.launch
+++ b/launch/exploration.launch
@@ -3,7 +3,7 @@
 	<node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>
 
 	<node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen">
-		<param name="frequency" type="double" value="2.0"/>
+		<param name="frequency" type="double" value="10.0"/>
 		<!-- Should be less than sensor range -->
 		<param name="goal_aliasing" type="double" value="1.0"/>
 
diff --git a/launch/gmapping.launch b/launch/gmapping.launch
new file mode 100644
index 0000000..03ce798
--- /dev/null
+++ b/launch/gmapping.launch
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="use_sim_time" default="false" />
+	<param name="/use_sim_time" value="$(arg use_sim_time)"/>
+
+	<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
+		<param name="scan" value="scan" />
+		<param name="delta" value="0.01" />
+		<param name="map_update_interval" value="10.0" />
+		<param name="xmin" value="-5.0"/>
+		<param name="ymin" value="-5.0"/>
+		<param name="xmax" value="5.0"/>
+		<param name="ymax" value="5.0"/>
+		<param name="odom_frame" value="odom"/>
+		<!-- The maximum usable range of the laser. A beam is cropped to this value. -->
+		<param name="maxUrange" value="3.5"/>
+		<!-- The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free -->
+		<param name="maxRange" value="10.0"/>
+		<!-- Minimum score for considering the outcome of the scan matching good. Can avoid jumping pose, default: 0.0, max: 600+ -->
+		<param name="minimumScore" value="0"/>
+		<!-- Process a scan each time the robot translates this far -->
+		<param name="linearUpdate" value="0.30"/>
+		<!-- Process a scan each time the robot rotates this far -->
+		<param name="angularUpdate" value="0.436"/> <!-- 25 deg -->
+		<!-- Number of particles in the filter, default: 30 -->
+		<param name="particles" value="65"/>
+		<!-- Odometry error in translation as a function of translation (rho/rho) -->
+		<param name="srr" value="0.01"/>
+		<!-- Odometry error in translation as a function of rotation (rho/theta) -->
+		<param name="srt" value="0.03"/>
+		<!-- Odometry error in rotation as a function of translation (theta/rho) -->
+		<param name="str" value="0.0"/>
+		<!-- Odometry error in rotation as a function of rotation (theta/theta) -->
+		<param name="stt" value="0.0"/>
+	</node>
+</launch>
diff --git a/launch/model.launch b/launch/model.launch
deleted file mode 100644
index 8e4079b..0000000
--- a/launch/model.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-	<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
-
-	<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
-
-	<!-- Spawn a robot into Gazebo -->
-	<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model wild_thumper" />
-</launch>
diff --git a/launch/move_base.launch b/launch/move_base.launch
index 3c1880d..88705b9 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -14,23 +14,7 @@
 		<param name="amcl/base_frame_id" value="base_footprint" />
 	</group>
 
-	<node pkg="gmapping" type="slam_gmapping" name="slap_gmapping" if="$(arg slam_gmapping)">
-		<param name="scan" value="scan" />
-		<param name="delta" value="0.01" />
-		<param name="map_update_interval" value="5.0" />
-		<param name="linearUpdate" value="0.5" />
-		<param name="angularUpdate" value="0.25" />
-		<param name="xmin" value="-5.0"/>
-		<param name="ymin" value="-5.0"/>
-		<param name="xmax" value="5.0"/>
-		<param name="ymax" value="5.0"/>
-		<param name="odom_frame" value="odom"/>
-		<param name="maxUrange" value="6.0"/>
-		<param name="maxRange" value="8.0"/>
-		<param name="minimumScore" value="200"/>
-		<param name="linearUpdate" value="0.5"/>
-		<param name="particles" value="80"/>
-	</node>
+	<include file="$(find wild_thumper)/launch/gmapping.launch" if="$(arg slam_gmapping)" />
 
 	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
 		<param name="base_local_planner" value="$(arg base_local_planner)"/>