From 2b175d4acc2bd3dff1cc1ca37ef0275661604859 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 28 Jan 2017 23:00:20 +0100
Subject: [PATCH] TrajectoryPlanner & gmapping tuning

---
 config/base_local_planner_params.yaml | 10 +++++++++-
 launch/gmapping.launch                |  8 ++++++--
 2 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 0ce322b..1823408 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -23,10 +23,13 @@ TrajectoryPlannerROS:
   # Whether to score based on the robot's heading to the path or its distance from the path, default: false
   heading_scoring: true
 
+  # How far to look ahead in time in seconds along the simulated trajectory when using heading scoring, default: 0.1
+  heading_scoring_timestep: 0.3
+
 DWAPlannerROS:
   acc_lim_x: 10.07
   acc_lim_y: 0.0
-  acc_lim_th: 12.00
+  acc_lim_th: 6.00
 
   max_vel_x: 0.5
   min_vel_x: 0.0 # no backward movement
@@ -40,3 +43,8 @@ DWAPlannerROS:
 
   xy_goal_tolerance: 0.1
   yaw_goal_tolerance: 0.2
+
+  # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01
+  occdist_scale: 0.02
+  # The weighting for how much the controller should stay close to the path it was given, default: 32.0
+  path_distance_bias: 64.0
diff --git a/launch/gmapping.launch b/launch/gmapping.launch
index 03ce798..bf72788 100644
--- a/launch/gmapping.launch
+++ b/launch/gmapping.launch
@@ -17,13 +17,13 @@
 		<!-- 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"/>
+		<param name="minimumScore" value="40"/>
 		<!-- 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"/>
+		<param name="particles" value="70"/>
 		<!-- 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) -->
@@ -32,5 +32,9 @@
 		<param name="str" value="0.0"/>
 		<!-- Odometry error in rotation as a function of rotation (theta/theta) -->
 		<param name="stt" value="0.0"/>
+		<!-- The number of iterations of the scanmatcher, default: 5 -->
+		<param name="iterations" value="7"/>
+		<!-- The sigma of a beam used for likelihood computation, default: 0.075 -->
+		<param name="lsigma" value="0.085"/>
 	</node>
 </launch>
-- 
2.39.2