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saved work, odom not right, to be fixed

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This commit is contained in:
Ruixiang Du
2020-04-13 14:11:23 +08:00
parent cf69732e50
commit a0fae1b0f1
71 changed files with 8083 additions and 47 deletions
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209
scout_navigation/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(scout_navigation)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
sensor_msgs
std_msgs
urdf
xacro
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# sensor_msgs# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES scout_navigation
# CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs urdf xacro
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/scout_navigation.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/scout_navigation_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_scout_navigation.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

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scout_navigation/launch/gmapping.launch Normal file
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<!-- -->
<launch>
<param name="/use_sim_time" value="true"/>
<node name="slam_gmapping" pkg="gmapping" type="slam_gmapping">
<remap from="scan" to="/scan"/>
<param name="base_link" value="base_footprint"/>
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_robot)/rviz/mapping.rviz"/>
</launch>

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scout_navigation/launch/navigation.launch Normal file
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<launch>
<param name="/use_sim_time" value="true"/>
<arg name="map_file" default="$(find scout_navigation)/maps/play.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen">
<param name="frame_id" value="map"/>
</node>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<rosparam file="$(find scout_navigation)/param/amcl_params.yaml" command="load" />
<param name="initial_pose_x" value="0"/>
<param name="initial_pose_y" value="0"/>
<param name="initial_pose_a" value="0"/>
</node>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find scout_navigation)/param/diff_drive/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find scout_navigation)/param/diff_drive/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find scout_navigation)/param/diff_drive/local_costmap_params.yaml" command="load" />
<rosparam file="$(find scout_navigation)/param/diff_drive/global_costmap_params.yaml" command="load" />
<rosparam file="$(find scout_navigation)/param/diff_drive/teb_local_planner_params.yaml" command="load" />
<param name="base_global_planner" value="global_planner/GlobalPlanner" />
<param name="planner_frequency" value="1.0" />
<param name="planner_patience" value="5.0" />
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<param name="controller_frequency" value="5.0" />
<param name="controller_patience" value="15.0" />
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_navigation)/rviz/rviz_navigation.rviz"/>
</launch>

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scout_navigation/maps/play.pgm Executable file
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scout_navigation/maps/play.yaml Executable file
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image: play.pgm
resolution: 0.010000
origin: [-20.000000, -20.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

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scout_navigation/package.xml Normal file
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<?xml version="1.0"?>
<package format="2">
<name>scout_navigation</name>
<version>0.0.0</version>
<description>The scout_navigation package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="rdu@todo.todo">rdu</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/scout_navigation</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>urdf</build_depend>
<build_depend>xacro</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>urdf</build_export_depend>
<build_export_depend>xacro</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

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scout_navigation/param/amcl_params.yaml Normal file
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use_map_topic: true
odom_frame_id: "odom"
base_frame_id: "base_footprint"
global_frame_id: "map"
## Publish scans from best pose at a max of 10 Hz
odom_model_type: "diff"
odom_alpha5: 0.1
gui_publish_rate: 10.0
laser_max_beams: 60
laser_max_range: 12.0
min_particles: 500
max_particles: 2000
kld_err: 0.05
kld_z: 0.99
odom_alpha1: 0.2
odom_alpha2: 0.2
## translation std dev, m
odom_alpha3: 0.2
odom_alpha4: 0.2
laser_z_hit: 0.5
aser_z_short: 0.05
laser_z_max: 0.05
laser_z_rand: 0.5
laser_sigma_hit: 0.2
laser_lambda_short: 0.1
laser_model_type: "likelihood_field" # "likelihood_field" or "beam"
laser_likelihood_max_dist: 2.0
update_min_d: 0.25
update_min_a: 0.2
resample_interval: 1
## Increase tolerance because the computer can get quite busy
transform_tolerance: 1.0
recovery_alpha_slow: 0.001
recovery_alpha_fast: 0.1

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scout_navigation/param/diff_drive/costmap_common_params.yaml Normal file
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#---standard pioneer footprint---
#---(in meters)---
#robot_radius: 0.25 #0.17
#footprint_padding: 0.00
footprint: [ [-0.465,-0.350], [0.465,-0.350], [0.465,0.350], [-0.465,0.350] ]
transform_tolerance: 0.2
map_type: costmap
always_send_full_costmap: true
obstacle_layer:
enabled: true
obstacle_range: 3.0
raytrace_range: 4.0
inflation_radius: 0.2
track_unknown_space: true
combination_method: 1
observation_sources: laser_scan_sensor
laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
inflation_layer:
enabled: true
cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.5 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
map_topic: "/map"

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scout_navigation/param/diff_drive/costmap_converter_params.yaml Normal file
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###########################################################################################
## NOTE: Costmap conversion is experimental. Its purpose is to combine many point ##
## obstales into clusters, computed in a separate thread in order to improve the overall ##
## efficiency of local planning. However, the implemented conversion algorithms are in a ##
## very early stage of development. Contributions are welcome! ##
###########################################################################################
TebLocalPlannerROS:
## Costmap converter plugin
#costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSRANSAC"
#costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSMCCH"
#costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSConcaveHull"
costmap_converter_spin_thread: True
costmap_converter_rate: 5
## Configure plugins (namespace move_base/costmap_to_lines or move_base/costmap_to_polygons)
## costmap_converter/CostmapToLinesDBSRANSAC, costmap_converter/CostmapToLinesDBSMCCH, costmap_converter/CostmapToPolygonsDBSMCCH
costmap_converter/CostmapToLinesDBSRANSAC:
cluster_max_distance: 0.4
cluster_min_pts: 2
ransac_inlier_distance: 0.15
ransac_min_inliers: 10
ransac_no_iterations: 1500
ransac_remainig_outliers: 3
ransac_convert_outlier_pts: True
ransac_filter_remaining_outlier_pts: False
convex_hull_min_pt_separation: 0.1

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scout_navigation/param/diff_drive/dyn_obst/costmap_converter_params.yaml Normal file
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###########################################################################################
## NOTE: Costmap conversion is experimental. Its purpose is to combine many point ##
## obstales into clusters, computed in a separate thread in order to improve the overall ##
## efficiency of local planning. However, the implemented conversion algorithms are in a ##
## very early stage of development. Contributions are welcome! ##
###########################################################################################
TebLocalPlannerROS:
## Costmap converter plugin
costmap_converter_plugin: "costmap_converter::CostmapToDynamicObstacles"
costmap_converter_spin_thread: True
costmap_converter_rate: 5
## Configure plugins (namespace move_base/CostmapToDynamicObstacles)
costmap_converter/CostmapToDynamicObstacles:
alpha_slow: 0.3
alpha_fast: 0.85
beta: 0.85
min_sep_between_slow_and_fast_filter: 80
min_occupancy_probability: 180
max_occupancy_neighbors: 100
morph_size: 1
filter_by_area: True
min_area: 3
max_area: 300
filter_by_circularity: True
min_circularity: 0.2
max_circularity: 1.0
filter_by_inertia: True
min_intertia_ratio: 0.2
max_inertia_ratio: 1.0
filter_by_convexity: False
min_convexity: 0.0
max_convexity: 1.0
dt: 0.2
dist_thresh: 60.0
max_allowed_skipped_frames: 3
max_trace_length: 10
static_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"

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scout_navigation/param/diff_drive/dyn_obst/global_costmap_params.yaml Normal file
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global_costmap:
global_frame: map
robot_base_frame: robot_0/base_link
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}

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scout_navigation/param/diff_drive/dyn_obst/local_costmap_params.yaml Normal file
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local_costmap:
global_frame: map
robot_base_frame: robot_0/base_link
update_frequency: 5.0
publish_frequency: 5.001 # actually exactly 5.0Hz, see https://github.com/ros-planning/navigation/issues/383
static_map: false
rolling_window: true
width: 12
height: 12
resolution: 0.1
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}

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scout_navigation/param/diff_drive/dyn_obst/teb_local_planner_params.yaml Normal file
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TebLocalPlannerROS:
odom_topic: odom
# Trajectory
teb_autosize: True
dt_ref: 0.3
dt_hysteresis: 0.1
global_plan_overwrite_orientation: True
allow_init_with_backwards_motion: False
max_global_plan_lookahead_dist: 3.0
feasibility_check_no_poses: 5
# Robot
max_vel_x: 0.4
max_vel_x_backwards: 0.2
max_vel_y: 0.0
max_vel_theta: 0.3
acc_lim_x: 0.5
acc_lim_theta: 0.5
min_turning_radius: 0.0 # diff-drive robot (can turn on place!)
footprint_model:
type: "point"
# GoalTolerance
xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.1
free_goal_vel: False
# Obstacles
min_obstacle_dist: 0.6 # This value must also include our robot radius, since footprint_model is set to "point".
inflation_dist: 0.8
dynamic_obstacle_inflation_dist: 0.6
include_dynamic_obstacles: True
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.5
obstacle_poses_affected: 30
# costmap_converter parameters are defined in costmap_converter_params.yaml
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
weight_max_vel_x: 3
weight_max_vel_theta: 1
weight_acc_lim_x: 2
weight_acc_lim_theta: 2
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1
weight_obstacle: 50
weight_inflation: 0.3
weight_dynamic_obstacle: 50
weight_dynamic_obstacle_inflation: 0.3
weight_adapt_factor: 2
# Homotopy Class Planner
enable_homotopy_class_planning: True
enable_multithreading: True
simple_exploration: False
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_obst_cost_scale: 1.0
selection_alternative_time_cost: True
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_keypoint_offset: 0.1
obstacle_heading_threshold: 0.45
visualize_hc_graph: False
visualize_with_time_as_z_axis_scale: 0.2

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scout_navigation/param/diff_drive/global_costmap_params.yaml Normal file
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global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}

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scout_navigation/param/diff_drive/local_costmap_params.yaml Normal file
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local_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 5.5
height: 5.5
resolution: 0.1
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}

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scout_navigation/param/diff_drive/teb_local_planner_params.yaml Normal file
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TebLocalPlannerROS:
odom_topic: odom
# Trajectory
teb_autosize: True
dt_ref: 0.3
dt_hysteresis: 0.1
max_samples: 500
global_plan_overwrite_orientation: True
allow_init_with_backwards_motion: False
max_global_plan_lookahead_dist: 3.0
global_plan_viapoint_sep: -1
global_plan_prune_distance: 1
exact_arc_length: False
feasibility_check_no_poses: 5
publish_feedback: False
# Robot
max_vel_x: 0.8 #0.4
max_vel_x_backwards: 0.2
max_vel_y: 0.0
max_vel_theta: 1.8 #0.3
acc_lim_x: 0.5
acc_lim_theta: 1.8 #0.5
min_turning_radius: 0.0 # diff-drive robot (can turn on place!)
footprint_model:
type: "line"
line_start: [-0.4, 0.0]
line_end: [0.4, 0.0]
# GoalTolerance
xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.1
free_goal_vel: False
complete_global_plan: True
# Obstacles
min_obstacle_dist: 0.45 #0.25 # This value must also include our robot radius, since footprint_model is set to "point".
inflation_dist: 0.6
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.5
obstacle_poses_affected: 15
dynamic_obstacle_inflation_dist: 0.6
include_dynamic_obstacles: True
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 5
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
obstacle_cost_exponent: 4
weight_max_vel_x: 2
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1 # must be > 0
weight_shortest_path: 0
weight_obstacle: 100
weight_inflation: 0.2
weight_dynamic_obstacle: 10
weight_dynamic_obstacle_inflation: 0.2
weight_viapoint: 1
weight_adapt_factor: 2
# Homotopy Class Planner
enable_homotopy_class_planning: True
enable_multithreading: True
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_prefer_initial_plan: 0.9
selection_obst_cost_scale: 100.0
selection_alternative_time_cost: False
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
roadmap_graph_area_length_scale: 1.0
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_heading_threshold: 0.45
switching_blocking_period: 0.0
viapoints_all_candidates: True
delete_detours_backwards: True
max_ratio_detours_duration_best_duration: 3.0
visualize_hc_graph: False
visualize_with_time_as_z_axis_scale: False
# Recovery
shrink_horizon_backup: True
shrink_horizon_min_duration: 10
oscillation_recovery: True
oscillation_v_eps: 0.1
oscillation_omega_eps: 0.1
oscillation_recovery_min_duration: 10
oscillation_filter_duration: 10

252
scout_navigation/rviz/mapping.rviz Executable file
View File

@@ -0,0 +1,252 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Map1
- /Odometry1
- /RobotModel1
- /TF1
Splitter Ratio: 0.5
Tree Height: 508
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 1.12401e-37
Min Color: 0; 0; 0
Min Intensity: 1.12401e-37
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Flat Squares
Topic: /robot/laser/scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Angle Tolerance: 0.1
Class: rviz/Odometry
Color: 255; 25; 0
Enabled: true
Keep: 100
Length: 1
Name: Odometry
Position Tolerance: 0.1
Topic: /odom
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hokuyo_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wheel_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_footprint:
Value: true
base_link:
Value: true
camera_link:
Value: true
hokuyo_link:
Value: true
map:
Value: true
odom:
Value: true
wheel_1:
Value: true
wheel_2:
Value: true
wheel_3:
Value: true
wheel_4:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 8.13564
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.860398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.9304
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 681
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000013c0000028bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000000000028b000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000201fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000201000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002f50000028b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1079
X: 783
Y: 50

329
scout_navigation/rviz/rviz_navigation.rviz Normal file
View File

@@ -0,0 +1,329 @@
Panels:
- Class: rviz/Displays
Help Height: 81
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Robot1
Splitter Ratio: 0.605095983
Tree Height: 744
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: LaserScan
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 50
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Class: rviz/Group
Displays:
- Alpha: 1
Arrow Length: 0.300000012
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Name: TebPoses
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Shape: Arrow (Flat)
Topic: /move_base/TebLocalPlannerROS/teb_poses
Unreliable: false
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /move_base/TebLocalPlannerROS/teb_markers
Name: TebMarker
Namespaces:
{}
Queue Size: 100
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: LocalPath
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /move_base/TebLocalPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 0.400000006
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: LocalCostmap
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
Enabled: true
Name: Local Planner
- Class: rviz/Group
Displays:
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Line Style: Lines
Line Width: 0.0299999993
Name: GlobalPath
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: /move_base/TebLocalPlannerROS/global_plan
Unreliable: false
Value: true
- Alpha: 0.699999988
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: GlobalCostmap
Topic: /move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
Enabled: true
Name: Global Planner
- Class: rviz/Group
Displays:
- Alpha: 1
Class: rviz/Polygon
Color: 85; 0; 255
Enabled: true
Name: Robot Footprint
Topic: /move_base/local_costmap/footprint
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 999999
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Flat Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Arrow Length: 0.100000001
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Name: AMCL Particles
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Shape: Arrow (Flat)
Topic: /particlecloud
Unreliable: false
Value: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
- Angle Tolerance: 0.100000001
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: false
Keep: 100
Name: Odometry
Position Tolerance: 0.100000001
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.300000012
Head Radius: 0.100000001
Shaft Length: 1
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /odom
Unreliable: false
Value: false
Enabled: true
Name: Robot
Enabled: true
Global Options:
Background Color: 255; 255; 255
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 23.5006466
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.338720083
Y: 0.705890715
Z: -1.42741621
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.56480002
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.71043015
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1028
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000037afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000037a000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003a00000003efc0100000002fb0000000800540069006d00650100000000000003a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002300000037a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 928
X: 65
Y: 24

156
scout_navigation/rviz/urdf.rviz Normal file
View File

@@ -0,0 +1,156 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 775
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
back left_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
back right_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front left_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front right_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.64610708
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.01039815
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.810398042
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 65
Y: 24