ellensohn/cps_rmp220_support
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Björn Ellensohn 2023-09-14 11:59:52 +02:00
parent a43cbaa249
commit f276da67a2
1 changed files with 159 additions and 159 deletions
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318
config/nav2_params.yaml
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@ -277,92 +277,92 @@ bt_navigator_navigate_to_pose_rclcpp_node:
# # twirling_cost_weight: 10.0 # # twirling_cost_weight: 10.0
#try mppi controller --> leads to crash on startup! #try mppi controller --> leads to crash on startup!
controller_server: # controller_server:
ros__parameters: # ros__parameters:
controller_frequency: 30.0 # controller_frequency: 30.0
FollowPath: # FollowPath:
plugin: "nav2_mppi_controller::MPPIController" # plugin: "nav2_mppi_controller::MPPIController"
time_steps: 56 # time_steps: 56
model_dt: 0.05 # model_dt: 0.05
batch_size: 2000 # batch_size: 2000
vx_std: 0.2 # vx_std: 0.2
vy_std: 0.2 # vy_std: 0.2
wz_std: 0.4 # wz_std: 0.4
vx_max: 0.5 # vx_max: 0.5
vx_min: -0.35 # vx_min: -0.35
vy_max: 0.5 # vy_max: 0.5
wz_max: 1.9 # wz_max: 1.9
iteration_count: 1 # iteration_count: 1
prune_distance: 1.7 # prune_distance: 1.7
transform_tolerance: 0.1 # transform_tolerance: 0.1
temperature: 0.3 # temperature: 0.3
gamma: 0.015 # gamma: 0.015
motion_model: "DiffDrive" # motion_model: "DiffDrive"
visualize: false # visualize: false
reset_period: 1.0 # (only in Humble) # reset_period: 1.0 # (only in Humble)
TrajectoryVisualizer: # TrajectoryVisualizer:
trajectory_step: 5 # trajectory_step: 5
time_step: 3 # time_step: 3
AckermannConstrains: # AckermannConstrains:
min_turning_r: 0.2 # min_turning_r: 0.2
critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] # critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
ConstraintCritic: # ConstraintCritic:
enabled: true # enabled: true
cost_power: 1 # cost_power: 1
cost_weight: 4.0 # cost_weight: 4.0
GoalCritic: # GoalCritic:
enabled: true # enabled: true
cost_power: 1 # cost_power: 1
cost_weight: 5.0 # cost_weight: 5.0
threshold_to_consider: 1.4 # threshold_to_consider: 1.4
GoalAngleCritic: # GoalAngleCritic:
enabled: true # enabled: true
cost_power: 1 # cost_power: 1
cost_weight: 3.0 # cost_weight: 3.0
threshold_to_consider: 0.5 # threshold_to_consider: 0.5
PreferForwardCritic: # PreferForwardCritic:
enabled: true # enabled: true
cost_power: 1 # cost_power: 1
cost_weight: 5.0 # cost_weight: 5.0
threshold_to_consider: 0.5 # threshold_to_consider: 0.5
ObstaclesCritic: # ObstaclesCritic:
enabled: true # enabled: true
cost_power: 1 # cost_power: 1
repulsion_weight: 1.5 # repulsion_weight: 1.5
critical_weight: 20.0 # critical_weight: 20.0
consider_footprint: true # was false # consider_footprint: true # was false
collision_cost: 10000.0 # collision_cost: 10000.0
collision_margin_distance: 0.1 # collision_margin_distance: 0.1
near_goal_distance: 0.5 # near_goal_distance: 0.5
inflation_radius: 0.55 # (only in Humble) # inflation_radius: 0.55 # (only in Humble)
cost_scaling_factor: 10.0 # (only in Humble) # cost_scaling_factor: 10.0 # (only in Humble)
PathAlignCritic: # PathAlignCritic:
enabled: true # enabled: true
cost_power: 1 # cost_power: 1
cost_weight: 14.0 # cost_weight: 14.0
max_path_occupancy_ratio: 0.05 # max_path_occupancy_ratio: 0.05
trajectory_point_step: 3 # trajectory_point_step: 3
threshold_to_consider: 0.5 # threshold_to_consider: 0.5
offset_from_furthest: 20 # offset_from_furthest: 20
use_path_orientations: false # use_path_orientations: false
PathFollowCritic: # PathFollowCritic:
enabled: true # enabled: true
cost_power: 1 # cost_power: 1
cost_weight: 5.0 # cost_weight: 5.0
offset_from_furthest: 5 # offset_from_furthest: 5
threshold_to_consider: 1.4 # threshold_to_consider: 1.4
PathAngleCritic: # PathAngleCritic:
enabled: true # enabled: true
cost_power: 1 # cost_power: 1
cost_weight: 2.0 # cost_weight: 2.0
offset_from_furthest: 4 # offset_from_furthest: 4
threshold_to_consider: 0.5 # threshold_to_consider: 0.5
max_angle_to_furthest: 1.0 # max_angle_to_furthest: 1.0
mode: 0 # mode: 0
# TwirlingCritic: # # TwirlingCritic:
# enabled: true # # enabled: true
# twirling_cost_power: 1 # # twirling_cost_power: 1
# twirling_cost_weight: 10.0 # # twirling_cost_weight: 10.0
# # try rpp controller # # try rpp controller
# controller_server: # controller_server:
@ -412,80 +412,80 @@ controller_server:
# max_robot_pose_search_dist: 10.0 # max_robot_pose_search_dist: 10.0
# use_interpolation: true # use_interpolation: true
# try DWB controller try DWB controller
# controller_server: controller_server:
# ros__parameters: ros__parameters:
# # controller server parameters (see Controller Server for more info) # controller server parameters (see Controller Server for more info)
# use_sim_time: False use_sim_time: False
# controller_frequency: 20.0 controller_frequency: 20.0
# min_x_velocity_threshold: 0.001 min_x_velocity_threshold: 0.001
# min_y_velocity_threshold: 0.5 min_y_velocity_threshold: 0.5
# min_theta_velocity_threshold: 0.001 min_theta_velocity_threshold: 0.001
# progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
# goal_checker_plugins: ["goal_checker"] goal_checker_plugins: ["goal_checker"]
# controller_plugins: ["FollowPath"] controller_plugins: ["FollowPath"]
# progress_checker: progress_checker:
# plugin: "nav2_controller::SimpleProgressChecker" plugin: "nav2_controller::SimpleProgressChecker"
# required_movement_radius: 0.5 required_movement_radius: 0.5
# movement_time_allowance: 10.0 movement_time_allowance: 10.0
# goal_checker: goal_checker:
# plugin: "nav2_controller::SimpleGoalChecker" plugin: "nav2_controller::SimpleGoalChecker"
# xy_goal_tolerance: 0.25 xy_goal_tolerance: 0.25
# yaw_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25
# stateful: True stateful: True
# # DWB controller parameters # DWB controller parameters
# FollowPath: FollowPath:
# plugin: "nav2_rotation_shim_controller::RotationShimController" plugin: "nav2_rotation_shim_controller::RotationShimController"
# primary_controller: "dwb_core::DWBLocalPlanner" primary_controller: "dwb_core::DWBLocalPlanner"
# # RotaitonShimController parameters: # RotaitonShimController parameters:
# angular_dist_threshold: 6.283 #was 0.785 now equals 360 degrees angular_dist_threshold: 6.283 #was 0.785 now equals 360 degrees
# forward_sampling_distance: 0.5 forward_sampling_distance: 0.5
# rotate_to_heading_angular_vel: 2.8 # was 1.8 rotate_to_heading_angular_vel: 2.8 # was 1.8
# max_angular_accel: 1.2 max_angular_accel: 1.2
# simulate_ahead_time: 1.0 # was 1.0 simulate_ahead_time: 1.0 # was 1.0
# # Primary controller params can be placed here below # Primary controller params can be placed here below
# debug_trajectory_details: False debug_trajectory_details: False
# min_vel_x: -0.16 # was 0.0 -> maybe can go backwards now. YES! min_vel_x: -0.16 # was 0.0 -> maybe can go backwards now. YES!
# min_vel_y: 0.0 min_vel_y: 0.0
# max_vel_x: 0.26 max_vel_x: 0.26
# max_vel_y: 0.0 max_vel_y: 0.0
# max_vel_theta: 3.0 # was 1.0 max_vel_theta: 3.0 # was 1.0
# min_speed_xy: 0.0 min_speed_xy: 0.0
# max_speed_xy: 0.26 max_speed_xy: 0.26
# min_speed_theta: 0.0 min_speed_theta: 0.0
# acc_lim_x: 2.5 acc_lim_x: 2.5
# acc_lim_y: 0.0 acc_lim_y: 0.0
# acc_lim_theta: 3.2 acc_lim_theta: 3.2
# decel_lim_x: -2.5 decel_lim_x: -2.5
# decel_lim_y: 0.0 decel_lim_y: 0.0
# decel_lim_theta: -3.2 decel_lim_theta: -3.2
# vx_samples: 20 vx_samples: 20
# vy_samples: 5 vy_samples: 5
# vtheta_samples: 20 vtheta_samples: 20
# sim_time: 1.7 sim_time: 1.7
# linear_granularity: 0.05 linear_granularity: 0.05
# angular_granularity: 0.025 angular_granularity: 0.025
# transform_tolerance: 0.2 transform_tolerance: 0.2
# xy_goal_tolerance: 0.25 xy_goal_tolerance: 0.25
# trans_stopped_velocity: 0.25 trans_stopped_velocity: 0.25
# short_circuit_trajectory_evaluation: True short_circuit_trajectory_evaluation: True
# stateful: True stateful: True
# critics: ["RotateToGoal", "Oscillation", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "PreferForward"] # added TwirlingCritic, PreferForward, remove BaseObstacleCritic, adde ObstacleFootprintCritic critics: ["RotateToGoal", "Oscillation", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "PreferForward"] # added TwirlingCritic, PreferForward, remove BaseObstacleCritic, adde ObstacleFootprintCritic
# ObstacleFootprintCritic.scale: 0.08 # was 0.02 ObstacleFootprintCritic.scale: 0.08 # was 0.02
# PathAlign.scale: 32.0 PathAlign.scale: 32.0
# GoalAlign.scale: 24.0 GoalAlign.scale: 24.0
# PathAlign.forward_point_distance: 0.05 # was 0.1 PathAlign.forward_point_distance: 0.05 # was 0.1
# GoalAlign.forward_point_distance: 0.1 GoalAlign.forward_point_distance: 0.1
# PathDist.scale: 32.0 PathDist.scale: 32.0
# GoalDist.scale: 24.0 GoalDist.scale: 24.0
# RotateToGoal.scale: 32.0 RotateToGoal.scale: 32.0
# RotateToGoal.slowing_factor: 5.0 RotateToGoal.slowing_factor: 5.0
# RotateToGoal.lookahead_time: -1.0 RotateToGoal.lookahead_time: -1.0
# #TwirlingCritic.scale: 0.02 # was 1.0 #TwirlingCritic.scale: 0.02 # was 1.0
# PreferForward.penalty: 1.0 PreferForward.penalty: 1.0
# PreferForward.scale: 5.0 PreferForward.scale: 5.0
# Oscillation.scale: 20.0 Oscillation.scale: 20.0
local_costmap: local_costmap:
local_costmap: local_costmap: