From f1096738b1cb44e0abdb7e85ddd66cc44a48323a Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 8 Jul 2017 17:51:44 +0200
Subject: [PATCH 1/1] Move config/global_costmap_params_odom.yaml go
 config/global_costmap_params_utm.yaml

---
 config/base_local_planner_params.yaml                    | 3 +++
 config/global_costmap_params.yaml                        | 8 ++++----
 ...p_params_odom.yaml => global_costmap_params_utm.yaml} | 9 ++++-----
 launch/move_base.launch                                  | 8 +++++---
 4 files changed, 16 insertions(+), 12 deletions(-)
 rename config/{global_costmap_params_odom.yaml => global_costmap_params_utm.yaml} (72%)

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index ce83faa..b163e5e 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -26,6 +26,9 @@ TrajectoryPlannerROS:
   # 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
 
+  # How far the robot must travel in meters before oscillation flags are reset, default: 0.05
+  oscillation_reset_dist: 0.1
+
 DWAPlannerROS:
   acc_lim_x: 10.07
   acc_lim_y: 0.0
diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 3dfcf59..5bb308d 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -7,7 +7,7 @@ global_costmap:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
-inflation_layer:
-  # low slope decay curve
-  inflation_radius: 1.75
-  cost_scaling_factor: 2.58
+  inflation_layer:
+    # low slope decay curve
+    inflation_radius: 1.75
+    cost_scaling_factor: 2.58
diff --git a/config/global_costmap_params_odom.yaml b/config/global_costmap_params_utm.yaml
similarity index 72%
rename from config/global_costmap_params_odom.yaml
rename to config/global_costmap_params_utm.yaml
index 0cb31e5..8ecf0b5 100644
--- a/config/global_costmap_params_odom.yaml
+++ b/config/global_costmap_params_utm.yaml
@@ -1,11 +1,10 @@
 # only differences to config/global_costmap_params.yaml
 global_costmap:
-  global_frame: odom
+  global_frame: utm
   rolling_window: true
-  width: 100.0
-  height: 100.0
-  resolution: 1.0
-  resolution: 0.05
+  width: 200.0
+  height: 200.0
+  resolution: 0.10
   plugins:
   - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
diff --git a/launch/move_base.launch b/launch/move_base.launch
index c1320cb..9508c32 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -2,6 +2,7 @@
 <launch>
 	<arg name="slam_gmapping" default="false" />
 	<arg name="map_file" default="$(find wild_thumper)/data/map.yaml" />
+	<arg name="global_utm" default="false" />
 	<arg name="nomap" default="false" />
 	<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/> <!-- base_local_planner/TrajectoryPlannerROS || dwa_local_planner/DWAPlannerROS -->
 
@@ -19,9 +20,9 @@
 			<!-- Specifies the expected noise in odometry's rotation estimate from translational component of the robot's motion. -->
 			<param name="odom_alpha2" value="0.00001" />
 			<!-- Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion. -->
-			<param name="odom_alpha3" value="0.01" />
+			<param name="odom_alpha3" value="0.03" />
 			<!-- Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion. -->
-			<param name="odom_alpha4" value="0.03" />
+			<param name="odom_alpha4" value="0.001" />
 			<!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
 			<param name="laser_max_beams" value="50" />
 			<!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
@@ -41,7 +42,8 @@
 		<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
 		<rosparam file="$(find wild_thumper)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
 		<rosparam file="$(find wild_thumper)/config/global_costmap_params.yaml" command="load" />
-		<rosparam file="$(find wild_thumper)/config/global_costmap_params_odom.yaml" command="load" if="$(arg nomap)" />
+		<rosparam file="$(find wild_thumper)/config/global_costmap_params_nomap.yaml" command="load" if="$(arg nomap)" />
+		<rosparam file="$(find wild_thumper)/config/global_costmap_params_utm.yaml" command="load" if="$(arg global_utm)" />
 		<rosparam file="$(find wild_thumper)/config/local_costmap_params.yaml" command="load" />
 		<rosparam file="$(find wild_thumper)/config/base_local_planner_params.yaml" command="load" />
 		<remap from="/cmd_vel" to="move_base/cmd_vel"/>
-- 
2.39.2