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update: try mppi controller

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Björn Ellensohn 2023-09-06 10:14:30 +02:00
parent 7ad13883de
commit fd829d942a
1 changed files with 131 additions and 47 deletions
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178
config/nav2_params.yaml
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@ -141,56 +141,140 @@ controller_server:
# plugin: "dwb_core::DWBLocalPlanner" # plugin: "dwb_core::DWBLocalPlanner"
# trying roation_shim_controller # trying roation_shim_controller
plugin: "nav2_rotation_shim_controller::RotationShimController" #plugin: "nav2_rotation_shim_controller::RotationShimController"
#plugin: "dwb_core::DWBLocalPlanner" #plugin: "dwb_core::DWBLocalPlanner"
#primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" #primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
primary_controller: "dwb_core::DWBLocalPlanner" #primary_controller: "dwb_core::DWBLocalPlanner"
angular_dist_threshold: 0.785 # angular_dist_threshold: 0.785
forward_sampling_distance: 0.5 # forward_sampling_distance: 0.5
rotate_to_heading_angular_vel: 0.3 # rotate_to_heading_angular_vel: 0.3
max_angular_accel: 0.2 # max_angular_accel: 0.2
simulate_ahead_time: 1.0 # simulate_ahead_time: 1.0
# primary controller params (dwb) # # primary controller params (dwb)
debug_trajectory_details: True # debug_trajectory_details: True
min_vel_x: 0.0 # min_vel_x: 0.0
min_vel_y: 0.0 # min_vel_y: 0.0
max_vel_x: 0.26 # max_vel_x: 0.26
max_vel_y: 0.26 # max_vel_y: 0.26
max_vel_theta: 1.0 # max_vel_theta: 1.0
min_speed_xy: 0.001 # min_speed_xy: 0.001
max_speed_xy: 0.26 # max_speed_xy: 0.26
min_speed_theta: 0.0 # min_speed_theta: 0.0
# Add high threshold velocity for turtlebot 3 issue. # # Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 # # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
acc_lim_x: 0.02 # was 2.5 # acc_lim_x: 0.02 # was 2.5
acc_lim_y: 0.02 # acc_lim_y: 0.02
acc_lim_theta: 1.0 # was 3.2 # acc_lim_theta: 1.0 # was 3.2
decel_lim_x: -0.02 # was -2.5 # decel_lim_x: -0.02 # was -2.5
decel_lim_y: -0.02 # decel_lim_y: -0.02
decel_lim_theta: -0.1 # was -3.2 # decel_lim_theta: -0.1 # was -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", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] # critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02 # BaseObstacle.scale: 0.02
PathAlign.scale: 32.0 # PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1 # PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0 # GoalAlign.scale: 24.0
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
# trying mppi_controller
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
local_costmap: local_costmap:
local_costmap: local_costmap: