From f025de922c3461255274376566777ad51f486fa6 Mon Sep 17 00:00:00 2001 From: tanacchi Date: Sun, 24 Nov 2019 23:59:03 +0900 Subject: [PATCH 1/3] Fix params for navigation runtime error and warning --- rois_2dnav_gazebo/config/amcl_params.yaml | 2 +- .../config/costmap/robot1/global_costmap_params.yaml | 4 ++-- .../config/costmap/robot1/local_costmap_params.yaml | 4 ++-- .../config/costmap/robot2/global_costmap_params.yaml | 4 ++-- .../config/costmap/robot2/local_costmap_params.yaml | 4 ++-- .../config/costmap/robot3/global_costmap_params.yaml | 4 ++-- .../config/costmap/robot3/local_costmap_params.yaml | 4 ++-- rois_2dnav_gazebo/config/move_base_params.yaml | 2 +- .../config/planner/base_local_planner_params.yaml | 4 ++-- 9 files changed, 16 insertions(+), 16 deletions(-) diff --git a/rois_2dnav_gazebo/config/amcl_params.yaml b/rois_2dnav_gazebo/config/amcl_params.yaml index dd2fe271..a3a682af 100644 --- a/rois_2dnav_gazebo/config/amcl_params.yaml +++ b/rois_2dnav_gazebo/config/amcl_params.yaml @@ -9,7 +9,7 @@ update_min_a: 0.01 resample_interval: 2 -transform_tolerance: 0.1 +transform_tolerance: 0.5 recovery_alpha_slow: 0.001 recovery_alpha_fast: 0.1 diff --git a/rois_2dnav_gazebo/config/costmap/robot1/global_costmap_params.yaml b/rois_2dnav_gazebo/config/costmap/robot1/global_costmap_params.yaml index f892f558..d89bc59c 100644 --- a/rois_2dnav_gazebo/config/costmap/robot1/global_costmap_params.yaml +++ b/rois_2dnav_gazebo/config/costmap/robot1/global_costmap_params.yaml @@ -1,8 +1,8 @@ global_costmap: global_frame: map robot_base_frame: robot1/base_footprint - update_frequency: 3.0 - publish_frequency: 3.0 + update_frequency: 0.5 + publish_frequency: 0.5 static_map: true rolling_window: false transform_tolerance: 1.0 diff --git a/rois_2dnav_gazebo/config/costmap/robot1/local_costmap_params.yaml b/rois_2dnav_gazebo/config/costmap/robot1/local_costmap_params.yaml index d21d3bff..498e2ce3 100644 --- a/rois_2dnav_gazebo/config/costmap/robot1/local_costmap_params.yaml +++ b/rois_2dnav_gazebo/config/costmap/robot1/local_costmap_params.yaml @@ -1,8 +1,8 @@ local_costmap: global_frame: robot1/odom robot_base_frame: robot1/base_footprint - update_frequency: 8.0 - publish_frequency: 7.0 + update_frequency: 1.0 + publish_frequency: 1.0 width: 10.0 height: 10.0 resolution: 0.02 diff --git a/rois_2dnav_gazebo/config/costmap/robot2/global_costmap_params.yaml b/rois_2dnav_gazebo/config/costmap/robot2/global_costmap_params.yaml index a318075d..78229870 100644 --- a/rois_2dnav_gazebo/config/costmap/robot2/global_costmap_params.yaml +++ b/rois_2dnav_gazebo/config/costmap/robot2/global_costmap_params.yaml @@ -1,8 +1,8 @@ global_costmap: global_frame: map robot_base_frame: robot2/base_footprint - update_frequency: 3.0 - publish_frequency: 3.0 + update_frequency: 0.5 + publish_frequency: 0.5 static_map: true rolling_window: false transform_tolerance: 1.0 diff --git a/rois_2dnav_gazebo/config/costmap/robot2/local_costmap_params.yaml b/rois_2dnav_gazebo/config/costmap/robot2/local_costmap_params.yaml index 8065ad90..c5a36220 100644 --- a/rois_2dnav_gazebo/config/costmap/robot2/local_costmap_params.yaml +++ b/rois_2dnav_gazebo/config/costmap/robot2/local_costmap_params.yaml @@ -1,8 +1,8 @@ local_costmap: global_frame: robot2/odom robot_base_frame: robot2/base_footprint - update_frequency: 8.0 - publish_frequency: 7.0 + update_frequency: 1.0 + publish_frequency: 1.0 width: 10.0 height: 10.0 resolution: 0.02 diff --git a/rois_2dnav_gazebo/config/costmap/robot3/global_costmap_params.yaml b/rois_2dnav_gazebo/config/costmap/robot3/global_costmap_params.yaml index 9f0bd7e5..72d2c6e1 100644 --- a/rois_2dnav_gazebo/config/costmap/robot3/global_costmap_params.yaml +++ b/rois_2dnav_gazebo/config/costmap/robot3/global_costmap_params.yaml @@ -1,8 +1,8 @@ global_costmap: global_frame: map robot_base_frame: robot3/base_footprint - update_frequency: 3.0 - publish_frequency: 3.0 + update_frequency: 0.5 + publish_frequency: 0.5 static_map: true rolling_window: false transform_tolerance: 1.0 diff --git a/rois_2dnav_gazebo/config/costmap/robot3/local_costmap_params.yaml b/rois_2dnav_gazebo/config/costmap/robot3/local_costmap_params.yaml index 2f5a5af9..2e83eacb 100644 --- a/rois_2dnav_gazebo/config/costmap/robot3/local_costmap_params.yaml +++ b/rois_2dnav_gazebo/config/costmap/robot3/local_costmap_params.yaml @@ -1,8 +1,8 @@ local_costmap: global_frame: robot3/odom robot_base_frame: robot3/base_footprint - update_frequency: 8.0 - publish_frequency: 7.0 + update_frequency: 1.0 + publish_frequency: 1.0 width: 10.0 height: 10.0 resolution: 0.02 diff --git a/rois_2dnav_gazebo/config/move_base_params.yaml b/rois_2dnav_gazebo/config/move_base_params.yaml index 86ed2ca1..0d8ca0b0 100644 --- a/rois_2dnav_gazebo/config/move_base_params.yaml +++ b/rois_2dnav_gazebo/config/move_base_params.yaml @@ -1,4 +1,4 @@ -controller_frequency: 5.0 +controller_frequency: 2.0 controller_patience: 10.0 planner_patience: 5.0 diff --git a/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml b/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml index 7459a1ab..17659dd3 100644 --- a/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml +++ b/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml @@ -16,7 +16,7 @@ TrajectoryPlannerROS: xy_goal_tolerance: 2.0 sim_time: 2.0 - controller_frequency: 5.0 + controller_frequency: 2.0 # Length of view when rotate heading_lookahead: 15.0 # Use method of Dynamic Window Approach @@ -28,4 +28,4 @@ TrajectoryPlannerROS: publish_cost_grid_pc: true global_frame_id: /map - meter_scoring: false + meter_scoring: true -- GitLab From 05064ade9d397b8d309820321862816799e4cbaf Mon Sep 17 00:00:00 2001 From: tanacchi Date: Mon, 25 Nov 2019 00:17:43 +0900 Subject: [PATCH 2/3] Rename deprecated param of local_planner --- rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml b/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml index 17659dd3..5f4e95e2 100644 --- a/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml +++ b/rois_2dnav_gazebo/config/planner/base_local_planner_params.yaml @@ -4,7 +4,7 @@ TrajectoryPlannerROS: max_vel_theta: 2.0 min_vel_theta: -2.0 - min_in_place_rotational_vel: 1.0 + min_in_place_vel_theta: 1.0 acc_lim_x: 1.0 acc_lim_y: 0.0 -- GitLab From f953fc2d400a10a82e9f8f3dd875b643aee9a782 Mon Sep 17 00:00:00 2001 From: tanacchi Date: Sat, 1 Feb 2020 17:58:22 +0900 Subject: [PATCH 3/3] Fix update threshold of amcl --- rois_2dnav_gazebo/config/amcl_params.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rois_2dnav_gazebo/config/amcl_params.yaml b/rois_2dnav_gazebo/config/amcl_params.yaml index a3a682af..1d18d803 100644 --- a/rois_2dnav_gazebo/config/amcl_params.yaml +++ b/rois_2dnav_gazebo/config/amcl_params.yaml @@ -4,8 +4,8 @@ max_particles: 5000 kld_err: 0.01 kld_z: 0.99 -update_min_d: 0.01 -update_min_a: 0.01 +update_min_d: 0.2 +update_min_a: 0.2 resample_interval: 2 -- GitLab