ellensohn/cps_rmp220_support
1
0
Fork 0
mirror of https://github.com/bjoernellens1/cps_rmp220_support.git synced 2024-11-23 15:45:08 +00:00
Code Issues Packages Projects Releases Wiki Activity

update

Browse Source
This commit is contained in:
Björn Ellensohn 2023-09-14 10:47:33 +02:00
parent 5470e5bd79
commit 00c6ab85ce
1 changed files with 159 additions and 159 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

318
config/nav2_params.yaml
View File

@ -276,93 +276,93 @@ bt_navigator_navigate_to_pose_rclcpp_node:
# # twirling_cost_power: 1
# # twirling_cost_weight: 10.0
# #try mppi controller --> leads to crash on startup!
# controller_server:
# ros__parameters:
# controller_frequency: 30.0
# FollowPath:
# plugin: "nav2_mppi_controller::MPPIController"
# time_steps: 56
# model_dt: 0.05
# batch_size: 2000
# vx_std: 0.2
# vy_std: 0.2
# wz_std: 0.4
# vx_max: 0.5
# vx_min: -0.35
# vy_max: 0.5
# wz_max: 1.9
# iteration_count: 1
# prune_distance: 1.7
# transform_tolerance: 0.1
# temperature: 0.3
# gamma: 0.015
# motion_model: "DiffDrive"
# visualize: false
# reset_period: 1.0 # (only in Humble)
# TrajectoryVisualizer:
# trajectory_step: 5
# time_step: 3
# AckermannConstrains:
# min_turning_r: 0.2
# critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
# ConstraintCritic:
# enabled: true
# cost_power: 1
# cost_weight: 4.0
# GoalCritic:
# enabled: true
# cost_power: 1
# cost_weight: 5.0
# threshold_to_consider: 1.4
# GoalAngleCritic:
# enabled: true
# cost_power: 1
# cost_weight: 3.0
# threshold_to_consider: 0.5
# PreferForwardCritic:
# enabled: true
# cost_power: 1
# cost_weight: 5.0
# threshold_to_consider: 0.5
# ObstaclesCritic:
# enabled: true
# cost_power: 1
# repulsion_weight: 1.5
# critical_weight: 20.0
# consider_footprint: false
# collision_cost: 10000.0
# collision_margin_distance: 0.1
# near_goal_distance: 0.5
# inflation_radius: 0.55 # (only in Humble)
# cost_scaling_factor: 10.0 # (only in Humble)
# PathAlignCritic:
# enabled: true
# cost_power: 1
# cost_weight: 14.0
# max_path_occupancy_ratio: 0.05
# trajectory_point_step: 3
# threshold_to_consider: 0.5
# offset_from_furthest: 20
# use_path_orientations: false
# PathFollowCritic:
# enabled: true
# cost_power: 1
# cost_weight: 5.0
# offset_from_furthest: 5
# threshold_to_consider: 1.4
# PathAngleCritic:
# enabled: true
# cost_power: 1
# cost_weight: 2.0
# offset_from_furthest: 4
# threshold_to_consider: 0.5
# max_angle_to_furthest: 1.0
# mode: 0
# # TwirlingCritic:
# # enabled: true
# # twirling_cost_power: 1
# # twirling_cost_weight: 10.0
#try mppi controller --> leads to crash on startup!
controller_server:
ros__parameters:
controller_frequency: 30.0
FollowPath:
plugin: "nav2_mppi_controller::MPPIController"
time_steps: 56
model_dt: 0.05
batch_size: 2000
vx_std: 0.2
vy_std: 0.2
wz_std: 0.4
vx_max: 0.5
vx_min: -0.35
vy_max: 0.5
wz_max: 1.9
iteration_count: 1
prune_distance: 1.7
transform_tolerance: 0.1
temperature: 0.3
gamma: 0.015
motion_model: "DiffDrive"
visualize: false
reset_period: 1.0 # (only in Humble)
TrajectoryVisualizer:
trajectory_step: 5
time_step: 3
AckermannConstrains:
min_turning_r: 0.2
critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
ConstraintCritic:
enabled: true
cost_power: 1
cost_weight: 4.0
GoalCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
threshold_to_consider: 1.4
GoalAngleCritic:
enabled: true
cost_power: 1
cost_weight: 3.0
threshold_to_consider: 0.5
PreferForwardCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
threshold_to_consider: 0.5
ObstaclesCritic:
enabled: true
cost_power: 1
repulsion_weight: 1.5
critical_weight: 20.0
consider_footprint: false
collision_cost: 10000.0
collision_margin_distance: 0.1
near_goal_distance: 0.5
inflation_radius: 0.55 # (only in Humble)
cost_scaling_factor: 10.0 # (only in Humble)
PathAlignCritic:
enabled: true
cost_power: 1
cost_weight: 14.0
max_path_occupancy_ratio: 0.05
trajectory_point_step: 3
threshold_to_consider: 0.5
offset_from_furthest: 20
use_path_orientations: false
PathFollowCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
offset_from_furthest: 5
threshold_to_consider: 1.4
PathAngleCritic:
enabled: true
cost_power: 1
cost_weight: 2.0
offset_from_furthest: 4
threshold_to_consider: 0.5
max_angle_to_furthest: 1.0
mode: 0
# TwirlingCritic:
# enabled: true
# twirling_cost_power: 1
# twirling_cost_weight: 10.0
# # try rpp controller
# controller_server:
@ -413,79 +413,79 @@ bt_navigator_navigate_to_pose_rclcpp_node:
# use_interpolation: true
# try DWB controller
controller_server:
ros__parameters:
# controller server parameters (see Controller Server for more info)
use_sim_time: False
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
goal_checker_plugins: ["goal_checker"]
controller_plugins: ["FollowPath"]
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5
movement_time_allowance: 10.0
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
# DWB controller parameters
FollowPath:
plugin: "nav2_rotation_shim_controller::RotationShimController"
primary_controller: "dwb_core::DWBLocalPlanner"
# RotaitonShimController parameters:
angular_dist_threshold: 6.283 #was 0.785 now equals 360 degrees
forward_sampling_distance: 0.5
rotate_to_heading_angular_vel: 2.8 # was 1.8
max_angular_accel: 1.2
simulate_ahead_time: 1.0 # was 1.0
# controller_server:
# ros__parameters:
# # controller server parameters (see Controller Server for more info)
# use_sim_time: False
# controller_frequency: 20.0
# min_x_velocity_threshold: 0.001
# min_y_velocity_threshold: 0.5
# min_theta_velocity_threshold: 0.001
# progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
# goal_checker_plugins: ["goal_checker"]
# controller_plugins: ["FollowPath"]
# progress_checker:
# plugin: "nav2_controller::SimpleProgressChecker"
# required_movement_radius: 0.5
# movement_time_allowance: 10.0
# goal_checker:
# plugin: "nav2_controller::SimpleGoalChecker"
# xy_goal_tolerance: 0.25
# yaw_goal_tolerance: 0.25
# stateful: True
# # DWB controller parameters
# FollowPath:
# plugin: "nav2_rotation_shim_controller::RotationShimController"
# primary_controller: "dwb_core::DWBLocalPlanner"
# # RotaitonShimController parameters:
# angular_dist_threshold: 6.283 #was 0.785 now equals 360 degrees
# forward_sampling_distance: 0.5
# rotate_to_heading_angular_vel: 2.8 # was 1.8
# max_angular_accel: 1.2
# simulate_ahead_time: 1.0 # was 1.0
# Primary controller params can be placed here below
debug_trajectory_details: False
min_vel_x: -0.16 # was 0.0 -> maybe can go backwards now. YES!
min_vel_y: 0.0
max_vel_x: 0.26
max_vel_y: 0.0
max_vel_theta: 3.0 # was 1.0
min_speed_xy: 0.0
max_speed_xy: 0.26
min_speed_theta: 0.0
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "PreferForward"] # added TwirlingCritic, PreferForward, remove BaseObstacleCritic, adde ObstacleFootprintCritic
ObstacleFootprintCritic.scale: 0.08 # was 0.02
PathAlign.scale: 32.0
GoalAlign.scale: 24.0
PathAlign.forward_point_distance: 0.05 # was 0.1
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
#TwirlingCritic.scale: 0.02 # was 1.0
PreferForward.penalty: 1.0
PreferForward.scale: 5.0
Oscillation.scale: 20.0
# # Primary controller params can be placed here below
# debug_trajectory_details: False
# min_vel_x: -0.16 # was 0.0 -> maybe can go backwards now. YES!
# min_vel_y: 0.0
# max_vel_x: 0.26
# max_vel_y: 0.0
# max_vel_theta: 3.0 # was 1.0
# min_speed_xy: 0.0
# max_speed_xy: 0.26
# min_speed_theta: 0.0
# acc_lim_x: 2.5
# acc_lim_y: 0.0
# acc_lim_theta: 3.2
# decel_lim_x: -2.5
# decel_lim_y: 0.0
# decel_lim_theta: -3.2
# vx_samples: 20
# vy_samples: 5
# vtheta_samples: 20
# sim_time: 1.7
# linear_granularity: 0.05
# angular_granularity: 0.025
# transform_tolerance: 0.2
# xy_goal_tolerance: 0.25
# trans_stopped_velocity: 0.25
# short_circuit_trajectory_evaluation: True
# stateful: True
# critics: ["RotateToGoal", "Oscillation", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "PreferForward"] # added TwirlingCritic, PreferForward, remove BaseObstacleCritic, adde ObstacleFootprintCritic
# ObstacleFootprintCritic.scale: 0.08 # was 0.02
# PathAlign.scale: 32.0
# GoalAlign.scale: 24.0
# PathAlign.forward_point_distance: 0.05 # was 0.1
# GoalAlign.forward_point_distance: 0.1
# PathDist.scale: 32.0
# GoalDist.scale: 24.0
# RotateToGoal.scale: 32.0
# RotateToGoal.slowing_factor: 5.0
# RotateToGoal.lookahead_time: -1.0
# #TwirlingCritic.scale: 0.02 # was 1.0
# PreferForward.penalty: 1.0
# PreferForward.scale: 5.0
# Oscillation.scale: 20.0
local_costmap:
local_costmap: