ellensohn/cps_rmp220_support
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8 changed files with 44 additions and 108 deletions
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9
config/costmap_common_params.yaml
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@ -1,9 +0,0 @@
obstacle_range: 2.5
raytrace_range: 3.0
#robot_radius: 0.25
footprint: "[ [0.18, 0.200], [0.18, -0.200], [-0.54, -0.165], [-0.54, 0.165] ]"
inflation_radius: 0.15
max_obstacle_height: 0.6
min_obstacle_height: 0.0
observation_sources: scan
scan: {data_type: LaserScan, topic: /scan_filtered, marking: true, clearing: true, expected_update_rate: 0}

36
config/dwa_base_local_planner_params.yaml
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@ -1,15 +1,15 @@
controller_frequency: 3.0 #20.0 #5.0
recovery_behavior_enabled: true #false
clearing_rotation_allowed: true #false
controller_frequency: 5.0
recovery_behavior_enabled: false
clearing_rotation_allowed: false
DWAPlannerROS:
max_vel_trans: 1.0
min_vel_trans: 0.1 #0.2
min_vel_trans: 0.2
max_vel_x: 1.0
min_vel_x: 0.1 #0.2
min_vel_x: 0.2
max_vel_y: 0.0 # zero for a differential drive robot
min_vel_y: 0.0
min_in_place_vel_theta: 0.1 #0.5
min_in_place_vel_theta: 0.5
escape_vel: -0.1
acc_lim_x: 0.5
acc_lim_y: 0.0 # zero for a differential drive robot
@ -21,31 +21,21 @@ DWAPlannerROS:
latch_xy_goal_tolerance: false
pdist_scale: 0.8
gdist_scale: 0.6
#meter_scoring: true
meter_scoring: true
heading_lookahead: 1.5 #0.325
heading_scoring: true #false
heading_lookahead: 0.325
heading_scoring: false
heading_scoring_timestep: 0.8
#occdist_scale: 0.1
occdist_scale: 0.1
oscillation_reset_dist: 0.05
publish_cost_grid_pc: false
prune_plan: true
# Forward Simulation Parameters
sim_time: 5.0 #1.0 #5.0 #2.5
sim_time: 2.5
sim_granularity: 0.025
angular_sim_granularity: 0.025
vx_samples: 20 #8
vy_samples: 1 #0 # zero for a differential drive robot
vx_samples: 8
vy_samples: 0 # zero for a differential drive robot
vtheta_samples: 20
dwa: true
simple_attractor: false
# # Trajectory Scoring Parameters
path_distance_bias: 64.0 # 32.0 - weighting for how much it should stick to the global path plan
goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal
occdist_scale: 50.0 #2.0 #0.5 # 0.01 - weighting for how much the controller should avoid obstacles
forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point
stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj.
scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint
max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed.

10
config/global_costmap_params.yaml
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@ -1,10 +0,0 @@
global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 1.0 # 1.0
publish_frequency: 1.0 #0
static_map: true
rolling_window: false
resolution: 0.01
transform_tolerance: 0.5
map_type: costmap

12
config/local_costmap_params.yaml
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@ -1,12 +0,0 @@
local_costmap:
global_frame: map #odom
robot_base_frame: base_link
update_frequency: 5.0 #1.0
publish_frequency: 1.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.01
transform_tolerance: 0.5
map_type: costmap

41
launch/linus_amcl.launch
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@ -10,33 +10,24 @@
<arg name="initial_pose_a" default="0.0"/>
<!-- ********** AMCL algorithm *********** -->
<!-- <node pkg="amcl" type="amcl" name="amcl"> -->
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<node pkg="amcl" type="amcl" name="amcl">
<param name="min_particles" value="500"/>
<!-- <param name="max_particles" value="3000"/> -->
<param name="max_particles" value="5000"/>
<param name="max_particles" value="3000"/>
<param name="kld_err" value="0.02"/>
<param name="update_min_d" value="0.20"/>
<!-- <param name="update_min_a" value="0.20"/> -->
<param name="update_min_a" value="0.50"/>
<param name="update_min_a" value="0.20"/>
<param name="resample_interval" value="1"/>
<!-- <param name="transform_tolerance" value="0.5"/> -->
<param name="transform_tolerance" value="0.1"/>
<!-- <param name="recovery_alpha_slow" value="0.00"/> -->
<param name="recovery_alpha_slow" value="0.001"/>
<!-- <param name="recovery_alpha_fast" value="0.00"/> -->
<param name="recovery_alpha_fast" value="0.01"/>
<param name="transform_tolerance" value="0.5"/>
<param name="recovery_alpha_slow" value="0.00"/>
<param name="recovery_alpha_fast" value="0.00"/>
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
<!-- <param name="gui_publish_rate" value="50.0"/> -->
<param name="gui_publish_rate" value="20.0"/>
<param name="gui_publish_rate" value="50.0"/>
<remap from="scan" to="$(arg scan_topic)"/>
<!-- <param name="laser_max_range" value="16.0"/> -->
<param name="laser_max_range" value="12.0"/>
<!-- <param name="laser_max_beams" value="180"/> -->
<param name="laser_max_beams" value="60"/>
<param name="laser_max_range" value="16.0"/>
<param name="laser_max_beams" value="180"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
@ -46,22 +37,16 @@
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="laser_model_type" value="likelihood_field"/>
<!-- odom paramters: may raise alphas to compensate for bad odometry-->
<param name="odom_model_type" value="diff"/>
<!-- <param name="odom_alpha1" value="0.1"/> -->
<param name="odom_alpha1" value="1.0"/>
<!-- <param name="odom_alpha2" value="0.1"/> -->
<param name="odom_alpha2" value="1.0"/>
<!-- <param name="odom_alpha3" value="0.1"/> -->
<param name="odom_alpha3" value="3.0"/>
<!-- <param name="odom_alpha4" value="0.1"/> -->
<param name="odom_alpha4" value="1.0"/>
<param name="odom_alpha1" value="0.1"/>
<param name="odom_alpha2" value="0.1"/>
<param name="odom_alpha3" value="0.1"/>
<param name="odom_alpha4" value="0.1"/>
<param name="odom_frame_id" value="odom"/>
<param name="base_frame_id" value="base_link"/>
<!--
<param name="global_frame_id" value="map"/>
<param name="tf_broadcast" value="true" /> -->
<param name="tf_broadcast" value="true" />
<!-- scan topic -->
<!-- <remap from="scan" to="scan_filtered"/> -->

14
launch/move_base.launch
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@ -5,15 +5,15 @@
<!-- Run the map server -->
<!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find segwayrmp)/maps/mymap.pgm my_map_resolution"/> -->
<node name="map_server" pkg="map_server" type="map_server" args="/maps/map.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(find cps_rmp220_support)/maps/map.yaml"/>
<!--move base-->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find cps_rmp220_support)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find cps_rmp220_support)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find cps_rmp220_support)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find cps_rmp220_support)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find cps_rmp220_support)/config/dwa_base_local_planner_params.yaml" command="load" />
<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find segwayrmp)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find segwayrmp)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find segwayrmp)/param/base_local_planner_params.yaml" command="load" />
<!-- scan topic -->
<remap from="scan" to="scan_filtered"/>
<!-- remap cmd_vel -->
@ -72,4 +72,4 @@
static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms -->
<!-- <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0.5 0 0 0 base_link base_footprint 50" /> -->
</launch>
</launch>

11
launch/move_base_core.launch
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@ -10,18 +10,17 @@
<!--move base-->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
<rosparam file="$(find cps_rmp220_support)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find cps_rmp220_support)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find cps_rmp220_support)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find cps_rmp220_support)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find segwayrmp)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find segwayrmp)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find cps_rmp220_support)/config/dwa_base_local_planner_params.yaml" command="load" />
<!-- scan topic -->
<remap from="scan" to="scan_filtered"/>
<!-- remap cmd_vel -->
<remap from="cmd_vel" to="nav_vel"/>
<!-- remap odom -->
<!-- <remap from="odom" to="/robot_pose_ekf/odom_combined"/> -->
<remap from="odom" to="/odom_new"/>
<remap from="odom" to="/robot_pose_ekf/odom_combined"/>
</node>
<!-- TF -->

19
nodes/encoder_odom_publisher.py
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@ -104,19 +104,12 @@ class EncoderOdometry:
# Include Covariance Matrix
# Include covariance
# odom.pose.covariance = [0.01, 0, 0, 0, 0, 0,
# 0, 0.01, 0, 0, 0, 0,
# 0, 0, 0.01, 0, 0, 0,
# 0, 0, 0, 0.01, 0, 0,
# 0, 0, 0, 0, 0.01, 0,
# 0, 0, 0, 0, 0, 0.01]
odom.pose.covariance = [0.1, 0, 0, 0, 0, 0, # Higher uncertainty in x
0, 0.1, 0, 0, 0, 0, # Higher uncertainty in y
0, 0, 0.2, 0, 0, 0, # Higher uncertainty in z (less typical for most robots)
0, 0, 0, 0.5, 0, 0, # Higher uncertainty in roll
0, 0, 0, 0, 0.5, 0, # Higher uncertainty in pitch
0, 0, 0, 0, 0, 0.5] # Higher uncertainty in yaw
odom.pose.covariance = [0.01, 0, 0, 0, 0, 0,
0, 0.01, 0, 0, 0, 0,
0, 0, 0.01, 0, 0, 0,
0, 0, 0, 0.01, 0, 0,
0, 0, 0, 0, 0.01, 0,
0, 0, 0, 0, 0, 0.01]
# Publish odometry to /odom_new
rospy.logdebug("Publishing Odometry message.")