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HaraldPed / faulty navigation - myparams.yaml

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  1. amcl: {base_frame_id: base_link, beam_skip_distance: 0.5, beam_skip_threshold: 0.3,
  2.   do_beamskip: false, first_map_only: false, global_frame_id: map, gui_publish_rate: 5.0,
  3.   initial_cov_aa: 0.07100685922367614, initial_cov_xx: 0.2571894402796059, initial_cov_yy: 0.24067977937842555,
  4.   initial_pose_a: 0.0077359969905060185, initial_pose_x: 0.0045896131931027675, initial_pose_y: 0.020289015299961733,
  5.   kld_err: 0.01, kld_z: 0.99, laser_lambda_short: 0.1, laser_likelihood_max_dist: 2.0,
  6.   laser_max_beams: 0, laser_max_range: -1.0, laser_min_range: -1.0, laser_model_type: likelihood_field,
  7.   laser_sigma_hit: 0.2, laser_z_hit: 0.95, laser_z_max: 0.05, laser_z_rand: 0.05,
  8.   laser_z_short: 0.1, max_particles: 5000, min_particles: 100, odom_alpha1: 0.2, odom_alpha2: 0.2,
  9.   odom_alpha3: 0.2, odom_alpha4: 0.2, odom_alpha5: 0.2, odom_frame_id: odom, odom_model_type: diff,
  10.   recovery_alpha_fast: 0.0, recovery_alpha_slow: 0.0, resample_interval: 2, restore_defaults: false,
  11.   save_pose_rate: 0.5, tf_broadcast: true, transform_tolerance: 0.1, update_min_a: 0.523598775598,
  12.   update_min_d: 0.2, use_map_topic: true}
  13. move_base:
  14.   DWAPlannerROS: {acc_lim_th: 3.2, acc_lim_theta: 3.2, acc_lim_x: 2.5, acc_lim_y: 0.0,
  15.     acc_limit_trans: 0.1, angular_sim_granularity: 0.1, forward_point_distance: 0.325,
  16.     goal_distance_bias: 24.0, latch_xy_goal_tolerance: false, max_rot_vel: 9.8, max_scaling_factor: 0.2,
  17.     max_trans_vel: 0.5, max_vel_x: 0.283, max_vel_y: 0.0, min_rot_vel: 0.2, min_trans_vel: 0.1,
  18.     min_vel_x: -0.283, min_vel_y: 0.0, occdist_scale: 0.01, oscillation_reset_angle: 0.2,
  19.     oscillation_reset_dist: 0.05, path_distance_bias: 32.0, prune_plan: false, restore_defaults: false,
  20.     rot_stopped_vel: 0.1, scaling_speed: 0.25, sim_granularity: 0.025, sim_time: 1.7,
  21.     stop_time_buffer: 0.2, trans_stopped_vel: 0.1, twirling_scale: 0.0, use_dwa: true,
  22.     vth_samples: 20, vx_samples: 3, vy_samples: 10, xy_goal_tolerance: 0.05, yaw_goal_tolerance: 0.1}
  23.   NavfnROS: {allow_unknown: true, default_tolerance: 0.05}
  24.   aggressive_reset: {reset_distance: 1.84}
  25.   base_global_planner: navfn/NavfnROS
  26.   base_local_planner: dwa_local_planner/DWAPlannerROS
  27.   clearing_rotation_allowed: true
  28.   conservative_reset: {reset_distance: 3.0}
  29.   conservative_reset_dist: 3.0
  30.   controller_frequency: 10.0
  31.   controller_patience: 5.0
  32.   global_costmap:
  33.     footprint: '[[-0.11,-0.05],[-0.11,0.05],[0.11,0.05],[0.11,-0.05]]'
  34.     footprint_padding: 0.01
  35.     global_frame: map
  36.     height: 10
  37.     inflation: {cost_scaling_factor: 10.0, enabled: true, inflate_unknown: false,
  38.       inflation_radius: 0.15}
  39.     obstacle_range: 0.5
  40.     obstacles_laser:
  41.       laser: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: lidar,
  42.         topic: scan}
  43.       observation_sources: laser
  44.     origin_x: 0.0
  45.     origin_y: 0.0
  46.     plugins:
  47.     - {name: static, type: 'costmap_2d::StaticLayer'}
  48.     - {name: inflation, type: 'costmap_2d::InflationLayer'}
  49.     publish_frequency: 5.0
  50.     raytrace_range: 2.0
  51.     resolution: 0.05
  52.     robot_base_frame: base_link
  53.     robot_radius: 0.46
  54.     rolling_window: false
  55.     static: {enabled: true, map_topic: /map, subscribe_to_updates: true}
  56.     track_unknown_space: true
  57.     transform_tolerance: 0.5
  58.     update_frequency: 5.0
  59.     width: 10
  60.   local_costmap:
  61.     footprint: '[[-0.11,-0.05],[-0.11,0.05],[0.11,0.05],[0.11,-0.05]]'
  62.     footprint_padding: 0.01
  63.     global_frame: odom
  64.     height: 2
  65.     inflation: {cost_scaling_factor: 10.0, enabled: true, inflate_unknown: false,
  66.       inflation_radius: 0.15}
  67.     obstacle_range: 0.5
  68.     obstacles_laser:
  69.       combination_method: 1
  70.       enabled: true
  71.       footprint_clearing_enabled: true
  72.       laser: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: lidar,
  73.         topic: scan}
  74.       max_obstacle_height: 2.0
  75.       observation_sources: laser
  76.     origin_x: 0.0
  77.     origin_y: 0.0
  78.     plugins:
  79.     - {name: obstacles_laser, type: 'costmap_2d::ObstacleLayer'}
  80.     - {name: inflation, type: 'costmap_2d::InflationLayer'}
  81.     publish_frequency: 5.0
  82.     raytrace_range: 2.0
  83.     resolution: 0.05
  84.     robot_base_frame: base_link
  85.     robot_radius: 0.46
  86.     rolling_window: true
  87.     static: {map_topic: /map, subscribe_to_updates: true}
  88.     transform_tolerance: 0.5
  89.     update_frequency: 5.0
  90.     width: 2
  91.   max_planning_retries: -1
  92.   oscillation_distance: 0.5
  93.   oscillation_timeout: 0.0
  94.   planner_frequency: 0.0
  95.   planner_patience: 5.0
  96.   recovery_behavior_enabled: true
  97.   recovery_behaviour_enabled: true
  98.   restore_defaults: false
  99.   shutdown_costmaps: false
  100. robot_description: "<?xml version=\"1.0\" ?>\n<!-- ===================================================================================\
  101.  \ -->\n<!-- |    This document was autogenerated by xacro from gopigo3.xacro   \
  102.  \               | -->\n<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED  \
  103.  \                               | -->\n<!-- ===================================================================================\
  104.  \ -->\n<robot name=\"gopigo3\" xmlns:xacro=\"http://www.ros.org/wiki/xacro\">\n\
  105.  \  <!-- <link name='map'>\n  </link> -->\n  <link name=\"odom\"/>\n  <link name=\"\
  106.   base_link\">\n    <inertial>\n      <mass value=\"15.0\"/>\n      <origin rpy=\"\
  107.   \ 0 0 0\" xyz=\"0 0 0.036\"/>\n      <inertia ixx=\"0.1\" ixy=\"0\" ixz=\"0\" iyy=\"\
  108.   0.1\" iyz=\"0\" izz=\"0.1\"/>\n    </inertial>\n    <collision name=\"collision\"\
  109.  >\n      <origin rpy=\" 0 0 0\" xyz=\"0 0 0.036\"/>\n      <geometry>\n        <box\
  110.  \ size=\".22 .08 .003\"/>\n      </geometry>\n    </collision>\n    <visual name=\"\
  111.   base_link_visual\">\n      <origin rpy=\" 0 0 0\" xyz=\"0 0 0.036\"/>\n      <geometry>\n\
  112.  \        <box size=\".22 .08 .003\"/>\n      </geometry>\n    </visual>\n    <collision\
  113.  \ name=\"caster_collision\">\n      <origin rpy=\" 0 0 0\" xyz=\"-0.1 0 0.018\"\
  114.  />\n      <geometry>\n        <sphere radius=\"0.015\"/>\n      </geometry>\n  \
  115.  \    <surface>\n        <friction>\n          <ode>\n            <mu>0</mu>\n  \
  116.  \          <mu2>0</mu2>\n            <slip1>1.0</slip1>\n            <slip2>1.0</slip2>\n\
  117.  \          </ode>\n        </friction>\n      </surface>\n    </collision>\n   \
  118.  \ <visual name=\"caster_visual\">\n      <origin rpy=\" 0 0 0\" xyz=\"-0.1 0 0.018\"\
  119.  />\n      <geometry>\n        <sphere radius=\"0.015\"/>\n      </geometry>\n  \
  120.  \  </visual>\n  </link>\n  <link name=\"left_wheel\">\n    <!--origin xyz=\"0.1\
  121.   \ 0.13 0.1\" rpy=\"0 1.5707 1.5707\"/-->\n    <collision name=\"collision\">\n \
  122.  \     <origin rpy=\"0 1.5707 1.5707\" xyz=\"0 0 0\"/>\n      <geometry>\n      \
  123.  \  <cylinder length=\"0.025\" radius=\"0.03\"/>\n      </geometry>\n    </collision>\n\
  124.  \    <visual name=\"left_wheel_visual\">\n      <origin rpy=\"0 1.5707 1.5707\"\
  125.  \ xyz=\"0 0 0\"/>\n      <geometry>\n        <cylinder length=\"0.025\" radius=\"\
  126.   0.03\"/>\n      </geometry>\n    </visual>\n    <inertial>\n      <origin rpy=\"\
  127.   0 1.5707 1.5707\" xyz=\"0 0 0\"/>\n      <mass value=\"5\"/>\n      <inertia ixx=\"\
  128.   .1\" ixy=\"0.0\" ixz=\"0.0\" iyy=\".1\" iyz=\"0.0\" izz=\".1\"/>\n    </inertial>\n\
  129.  \  </link>\n  <link name=\"right_wheel\">\n    <!--origin xyz=\"0.1 -0.13 0.1\"\
  130.  \ rpy=\"0 1.5707 1.5707\"/-->\n    <collision name=\"collision\">\n      <origin\
  131.  \ rpy=\"0 1.5707 1.5707\" xyz=\"0 0 0\"/>\n      <geometry>\n        <cylinder length=\"\
  132.   0.025\" radius=\"0.03\"/>\n      </geometry>\n    </collision>\n    <visual name=\"\
  133.   right_wheel_visual\">\n      <origin rpy=\"0 1.5707 1.5707\" xyz=\"0 0 0\"/>\n \
  134.  \     <geometry>\n        <cylinder length=\"0.025\" radius=\"0.03\"/>\n      </geometry>\n\
  135.  \    </visual>\n    <inertial>\n      <origin rpy=\"0 1.5707 1.5707\" xyz=\"0 0\
  136.   \ 0\"/>\n      <mass value=\"5\"/>\n      <inertia ixx=\".1\" ixy=\"0.0\" ixz=\"\
  137.   0.0\" iyy=\".1\" iyz=\"0.0\" izz=\".1\"/>\n    </inertial>\n  </link>\n  <link name=\"\
  138.   gopigo3_body\">\n    <visual>\n      <geometry>\n        <box size=\".13 .1 .055\"\
  139.  />\n      </geometry>\n      <origin rpy=\" 0 0 0\" xyz=\"0 0 0\"/>\n    </visual>\n\
  140.  \    <collision name=\"collision\">\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n\
  141.  \      <geometry>\n        <box size=\".13 .1 .055\"/>\n      </geometry>\n    </collision>\n\
  142.  \    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n      <mass value=\"\
  143.   5\"/>\n      <inertia ixx=\".1\" ixy=\"0.0\" ixz=\"0.0\" iyy=\".1\" iyz=\"0.0\"\
  144.  \ izz=\".1\"/>\n    </inertial>\n  </link>\n  <link name=\"lidar\">\n    <visual>\n\
  145.  \      <geometry>\n        <cylinder length=\"0.04\" radius=\"0.03\"/>\n      </geometry>\n\
  146.  \      <origin rpy=\" 0 0 0\" xyz=\"0 0 0\"/>\n    </visual>\n    <collision name=\"\
  147.   collision\">\n      <origin rpy=\" 0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n \
  148.  \       <cylinder length=\"0.04\" radius=\"0.03\"/>\n      </geometry>\n    </collision>\n\
  149.  \    <inertial>\n      <origin rpy=\" 0 0 0\" xyz=\"0 0 0\"/>\n      <mass value=\"\
  150.   5\"/>\n      <inertia ixx=\".1\" ixy=\"0.0\" ixz=\"0.0\" iyy=\".1\" iyz=\"0.0\"\
  151.  \ izz=\".1\"/>\n    </inertial>\n  </link>\n  <!-- Joints -->\n  <!-- <joint type=\"\
  152.   floating\" name=\"map_to_odom\">\n    <parent link=\"map\"/>\n    <child link=\"\
  153.   odom\"/>\n    <origin xyz=\"0 0 0\" rpy=\"0 0 0\"/>\n  </joint> -->\n  <joint name=\"\
  154.   odom_to_base\" type=\"floating\">\n    <parent link=\"odom\"/>\n    <child link=\"\
  155.   base_link\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 -0.036\"/>\n  </joint>\n  <joint\
  156.  \ name=\"left_wheel_hinge\" type=\"continuous\">\n    <origin rpy=\"0 0 0\" xyz=\"\
  157.   0.03 0.05 0.036\"/>\n    <!--origin xyz=\"0.1 0.13 0\" rpy=\"0 1.5707 1.5707\"/-->\n\
  158.  \    <child link=\"left_wheel\"/>\n    <parent link=\"base_link\"/>\n    <axis rpy=\"\
  159.   0 0 0\" xyz=\"0 1 0\"/>\n    <limit effort=\"10000\" velocity=\"1000\"/>\n    <joint_properties\
  160.  \ damping=\"1.0\" friction=\"1.0\"/>\n  </joint>\n  <joint name=\"right_wheel_hinge\"\
  161.  \ type=\"continuous\">\n    <origin rpy=\"0 0 0\" xyz=\"0.03 -0.05 0.036\"/>\n \
  162.  \   <!--origin xyz=\"0.1 -0.13 0\" rpy=\"0 1.5707 1.5707\"/-->\n    <child link=\"\
  163.   right_wheel\"/>\n    <parent link=\"base_link\"/>\n    <axis rpy=\"0 0 0\" xyz=\"\
  164.   0 1 0\"/>\n    <limit effort=\"10000\" velocity=\"1000\"/>\n    <joint_properties\
  165.  \ damping=\"1.0\" friction=\"1.0\"/>\n  </joint>\n  <joint name=\"base_to_body\"\
  166.  \ type=\"fixed\">\n    <origin rpy=\" 0 0 0\" xyz=\"0.015 0 0.0645\"/>\n    <child\
  167.  \ link=\"gopigo3_body\"/>\n    <parent link=\"base_link\"/>\n  </joint>\n  <joint\
  168.  \ name=\"base_to_lidar\" type=\"fixed\">\n    <origin rpy=\" 0 0 0\" xyz=\"0.03\
  169.   \ 0 0.1126\"/>\n    <parent link=\"base_link\"/>\n    <child link=\"lidar\"/>\n\
  170.  \  </joint>\n</robot>\n\n"
  171. rosdistro: 'kinetic
  172.  
  173.   '
  174. roslaunch:
  175.   uris: {host_192_168_1_33__37459: 'http://192.168.1.33:37459/', host_192_168_1_33__40787: 'http://192.168.1.33:40787/',
  176.     host_192_168_1_33__42348: 'http://192.168.1.33:42348/'}
  177. rosversion: '1.12.14
  178.  
  179.   '
  180. rplidarNode: {angle_compensate: true, frame_id: lidar, inverted: false, serial_baudrate: 115200,
  181.   serial_port: /dev/ttyUSB0}
  182. run_id: b817a80a-70fe-11e9-bdb9-74da388acfe8
  183. slam_gmapping: {angularUpdate: 0.5, astep: 0.05, base_frame: base_link, delta: 0.05,
  184.   iterations: 5, kernelSize: 1, lasamplerange: 0.005, lasamplestep: 0.005, linearUpdate: 0.3,
  185.   llsamplerange: 0.01, llsamplestep: 0.01, lsigma: 0.075, lskip: 0, lstep: 0.05, map_frame: map,
  186.   map_update_interval: 0.5, odom_frame: odom, ogain: 3.0, particles: 100, resampleThreshold: 0.5,
  187.   sigma: 0.05, temporalUpdate: 2.0, xmax: 25.0, xmin: -25.0, ymax: 25.0, ymin: -25.0}
  188. use_gui: false
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