ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
@ljaniec I have messed around with parameters and nothing has helped.if you perhaps have a turtlebot2 could you please try these parameters yourself? I have them here: @ljaniec I have messed around with parameters and nothing has helped.if you perhaps have a turtlebot2 could you please try these parameters yourself? I have them here:
DWAPlannerROS:
# Robot Configuration Parameters - Kobuki
max_vel_x: 0.22 # 0.55
min_vel_x: 0.0
max_vel_y: 0.0 # diff drive robot
min_vel_y: 0.0 # diff drive robot
max_trans_vel: 0.15 # choose slightly less than the base's capability,0.5
min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity
trans_stopped_vel: 0.1
# Warning!
# do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities
# are non-negligible and small in place rotational velocities will be created.
max_rot_vel: 2.0 # choose slightly less than the base's capability,5.0
min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity
rot_stopped_vel: 0.4
acc_lim_x: 1.0 # maximum is theoretically 2.0, but we
acc_lim_theta: 2.0
acc_lim_y: 0.0 # diff drive robot
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.4 # 0.05,0.3
xy_goal_tolerance: 0.3 # 0.10,0.15
# latch_xy_goal_tolerance: false
# Forward Simulation Parameters
sim_time: 1.0 # 1.7,1.0
vx_samples: 20 # 3
vy_samples: 1 # diff drive robot, there is only one sample
vtheta_samples: 40 # 20
# Trajectory Scoring Parameters
path_distance_bias: 34.0 # 32.0,64.0 - weighting for how much it should stick to the global path plan
goal_distance_bias: 64.0 # 24.0,34.0 - wighting for how much it should attempt to reach its goal
occdist_scale: 0.01 # 0.01 - weighting for how much the controller should avoid obstacles,0.5
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.
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags
# Debugging
publish_traj_pc : true
publish_cost_grid_pc: true
global_frame_id: odom
# Differential-drive robot configuration - necessary?
# holonomic_robot: false
costmap_common_params.yaml:
max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot
# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki 0.18)
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular
map_type: voxel
obstacle_layer:
enabled: true
max_obstacle_height: 0.6
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
unknown_threshold: 15
mark_threshold: 0
combination_method: 1
track_unknown_space: true #true needed for disabling global path planning through unknown space
obstacle_range: 2.5
raytrace_range: 3.0
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
publish_voxel_map: false
observation_sources: scan bump
scan:
data_type: LaserScan
topic: scan
marking: true
clearing: true
min_obstacle_height: 0.25
max_obstacle_height: 0.35
bump:
data_type: PointCloud2
topic: mobile_base/sensors/bumper_pointcloud
marking: true
clearing: false
min_obstacle_height: 0.0
max_obstacle_height: 0.15
# for debugging only, let's you see the entire voxel grid
#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
enabled: true
cost_scaling_factor: 5.0 # exponential rate at which the obstacle cost drops off(default is 10) 2.5, 5.0
inflation_radius: 0.5 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
2 | No.2 Revision |
@ljaniec I have messed around with parameters and nothing has helped.if you perhaps have a turtlebot2 could you please try these parameters yourself? I have them here: @ljaniec I have messed around with parameters and nothing has helped.if you perhaps have a turtlebot2 could you please try these parameters yourself? I have them here:
DWAPlannerROS:
# Robot Configuration Parameters - Kobuki
max_vel_x: 0.22 # 0.55
min_vel_x: 0.0
max_vel_y: 0.0 # diff drive robot
min_vel_y: 0.0 # diff drive robot
max_trans_vel: 0.15 # choose slightly less than the base's capability,0.5
min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity
trans_stopped_vel: 0.1
# Warning!
# do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities
# are non-negligible and small in place rotational velocities will be created.
max_rot_vel: 2.0 # choose slightly less than the base's capability,5.0
min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity
rot_stopped_vel: 0.4
acc_lim_x: 1.0 # maximum is theoretically 2.0, but we
acc_lim_theta: 2.0
acc_lim_y: 0.0 # diff drive robot
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.4 # 0.05,0.3
xy_goal_tolerance: 0.3 # 0.10,0.15
# latch_xy_goal_tolerance: false
# Forward Simulation Parameters
sim_time: 1.0 # 1.7,1.0
vx_samples: 20 # 3
vy_samples: 1 # diff drive robot, there is only one sample
vtheta_samples: 40 # 20
# Trajectory Scoring Parameters
path_distance_bias: 34.0 # 32.0,64.0 - weighting for how much it should stick to the global path plan
goal_distance_bias: 64.0 # 24.0,34.0 - wighting for how much it should attempt to reach its goal
occdist_scale: 0.01 # 0.01 - weighting for how much the controller should avoid obstacles,0.5
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.
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags
# Debugging
publish_traj_pc : true
publish_cost_grid_pc: true
global_frame_id: odom
# Differential-drive robot configuration - necessary?
# holonomic_robot: false
costmap_common_params.yaml:
max_obstacle_height: 0.60 # assume something like an arm is mounted on top of the robot
# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation)
robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki 0.18)
# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular
map_type: voxel
obstacle_layer:
enabled: true
max_obstacle_height: 0.6
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
unknown_threshold: 15
mark_threshold: 0
combination_method: 1
track_unknown_space: true #true needed for disabling global path planning through unknown space
obstacle_range: 2.5
raytrace_range: 3.0
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
publish_voxel_map: false
observation_sources: scan bump
scan:
data_type: LaserScan
topic: scan
marking: true
clearing: true
min_obstacle_height: 0.25
max_obstacle_height: 0.35
bump:
data_type: PointCloud2
topic: mobile_base/sensors/bumper_pointcloud
marking: true
clearing: false
min_obstacle_height: 0.0
max_obstacle_height: 0.15
# for debugging only, let's you see the entire voxel grid
#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
enabled: true
cost_scaling_factor: 5.0 # exponential rate at which the obstacle cost drops off(default is 10) 2.5, 5.0
inflation_radius: 0.5 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true