From 073eba0dc22bb70482b06b2c21a644ce095a96b0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Mon, 21 Aug 2023 08:39:22 +0200 Subject: [PATCH] added rotaion_shim, denoise_layer, tweak inflation --- config/nav2_params.yaml | 35 ++++++++++++++++++++++++++--------- 1 file changed, 26 insertions(+), 9 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index c8c1402..1a399cf 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -138,7 +138,18 @@ controller_server: yaw_goal_tolerance: 0.25 # DWB parameters FollowPath: - plugin: "dwb_core::DWBLocalPlanner" + # plugin: "dwb_core::DWBLocalPlanner" + + # trying roation_shim_controller + plugin: "nav2_rotation_shim_controller::RotationShimController" + primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" + angular_dist_threshold: 0.785 + forward_sampling_distance: 0.5 + rotate_to_heading_angular_vel: 1.8 + max_angular_accel: 3.2 + simulate_ahead_time: 1.0 + + # primary controller params (dwb) debug_trajectory_details: True min_vel_x: 0.0 min_vel_y: 0.0 @@ -193,11 +204,14 @@ local_costmap: resolution: 0.05 #robot_radius: 0.50 footprint: "[ [0.21, 0.255], [0.21, -0.255], [-0.52, -0.255], [-0.52, 0.255] ]" - plugins: ["voxel_layer", "inflation_layer"] + plugins: ["voxel_layer", "inflation_layer"], "denoise_layer" + denoise_layer: + plugin: "nav2_costmap_2d::DenoiseLayer" + enabled: True inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" - cost_scaling_factor: 3.0 - inflation_radius: 0.11 + cost_scaling_factor: 10.0 # was 3.0 + inflation_radius: 0.55 voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True @@ -234,7 +248,10 @@ global_costmap: robot_radius: 0.50 resolution: 0.05 track_unknown_space: true - plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + plugins: ["static_layer", "obstacle_layer", "inflation_layer", "denoise_layer"] + denoise_layer: + plugin: "nav2_costmap_2d::DenoiseLayer" + enabled: True obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True @@ -254,8 +271,8 @@ global_costmap: map_subscribe_transient_local: True inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" - cost_scaling_factor: 3.0 - inflation_radius: 0.11 + cost_scaling_factor: 10.0 # was 3.0 + inflation_radius: 0.55 always_send_full_costmap: True map_server: @@ -339,8 +356,8 @@ velocity_smoother: use_sim_time: True smoothing_frequency: 20.0 scale_velocities: False - #feedback: "OPEN_LOOP" - feedback: "CLOSED_LOOP" + feedback: "OPEN_LOOP" + #feedback: "CLOSED_LOOP" max_velocity: [0.26, 0.0, 1.0] min_velocity: [-0.26, 0.0, -1.0] max_accel: [2.5, 0.0, 3.2]