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Move Base Rotates

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Sep 7th, 2011
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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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