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Move Base Rotates

a guest Sep 7th, 2011 248 Never
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  1. Move base configuration for "Move base rotating instead of moving straight ahead"
  2.  
  3. navigation_global/config/local_costmap_params.yaml
  4. -------------------------
  5.  
  6. local_costmap:
  7.     publish_voxel_map: true
  8.     global_frame: odom
  9.     robot_base_frame: base_link
  10.     update_frequency: 5.0
  11.     publish_frequency: 2.0
  12.     static_map: false
  13.     rolling_window: true
  14.     width: 100.0
  15.     height: 100.0
  16.     resolution: 0.5
  17.     origin_x: -1.0
  18.     origin_y: -1.0
  19.  
  20. navigation_global/config/global_costmap_params.yaml
  21. ----------------
  22.  
  23. global_costmap:
  24.     publish_voxel_map: true
  25.     global_frame: odom
  26.     robot_base_frame: base_link
  27.     update_frequency: 5.0
  28.     publish_frequency: 0.0
  29.     static_map: true
  30.     rolling_window: false
  31.  
  32. navigation_global/config/base_local_planner_params.yaml
  33. ----------
  34.  
  35. TrajectoryPlannerROS:
  36.     # Robot Configuration Parameters
  37.     acc_lim_x: 1.5
  38.     acc_lim_y: 1.5
  39.     acc_lim_th: 2.0
  40.     max_vel_x: 0.50
  41.     min_vel_x: 0.25
  42.     max_rotational_vel: .25
  43.     min_in_place_rotational_vel: 0.20
  44.     backup_vel: -0.1
  45.     holonomic_robot: false
  46.  
  47.     # Goal Tolerance Parameters
  48.     xy_goal_tolerance: 0.5
  49.     yaw_goal_tolerance: 6.29
  50.  
  51.     # Forward Simulation Parameters
  52.     sim_time: 1.7
  53.     sim_granularity: 0.025
  54.     vx_samples: 3
  55.     vtheta_samples: 20
  56.  
  57.     # Trajectory Scoring Parameters
  58.     goal_distance_bias: 0.8
  59.     path_distance_bias: 0.6
  60.     occdist_scale: 0.01
  61.     heading_lookahead: 0.325
  62.     dwa: true
  63.  
  64.     # Oscillation Prevention Parameters
  65.     oscillation_reset_dist: 0.05
  66.  
  67. navigation_config/move_base_params.yaml
  68. ---
  69.  
  70. footprint: [[1.265, 0.9],
  71.             [1.265, -0.9],
  72.             [-0.405, -0.8],
  73.             [-1.265, -0.1],
  74.             [-1.265, 0.1],
  75.             [-0.405, 0.8],]
  76.  
  77. controller_frequency: 25.0
  78. controller_patience: 15.0
  79. clearing_radius: 8.0
  80. footprint_padding: 0.03
  81.  
  82.  
  83. navigation_config/costmap_common_params.yaml
  84. --------
  85.  
  86. map_type: costmap
  87. transform_tolerance: 0.3
  88. obstacle_range: 10.0
  89. raytrace_range: 3.0
  90. inflation_radius: 8 //has to fine tune the parameter
  91.  
  92. observation_sources: laser_scan_sensor
  93.  
  94. laser_scan_sensor: {sensor_frame: laser,
  95.                     data_type: LaserScan,
  96.                     topic: /scan,
  97.                     expected_update_rate: 0.2,
  98.                     observation_persistence: 0.0,
  99.                     marking: true,
  100.                     clearing: true,
  101.                     min_obstacle_height: 0.20,
  102.                     max_obstacle_height: 2.5}
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