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Here the content of the move_base yaml-files

base_local_planner_params
controller_frequency: 5.0 recovery_behavior_enabled: false clearing_rotation_allowed: false

TrajectoryPlannerROS: max_vel_x: 0.5 min_vel_x: 0.05 max_vel_theta: 2.0 min_vel_theta: 0.5 min_in_place_vel_theta: 0.5 max_rotational_vel: 2.0 min_in_place_rotational_vel: 1.0

holonomic_robot: false yaw_goal_tolerance: 0.3 # about 6 degrees xy_goal_tolerance: 0.10 # 5 cm gdist_scale: 0.6 pdist_scale: 0.8

heading_lookahead: 1.5 heading_scoring: true heading_scoring_timestep: 0.5 meter_scoring: false oscillation_reset_dist: 0.5

costmap_common_params obstacle_range: 2.5 raytrace_range: 3.0 footprint: [[27, -26], [27, 26], [-27, 26], [-27, -26]]# cw or ccw

robot_radius: 0.35

inflation_radius: 0.3 max_obstacle_height: 0.6 min_obstacle_height: 0.0 observation_sources: scan scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}

global_costmap_params.yaml global_costmap: global_frame: map robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 1.0 static_map: false rolling_window: false resolution: 0.01 transform_tolerance: 2.0 map_type: costmap

local_costmap_params local_costmap: global_frame: odom robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 1.0 static_map: false rolling_window: true width: 5.0 height: 5.0 resolution: 0.01 transform_tolerance: 1.0 map_type: costmap

Hope that somebody may help me.

Thanks for reading

Michael

Here the content of the move_base yaml-files

base_local_planner_params
controller_frequency: 5.0 recovery_behavior_enabled: false clearing_rotation_allowed: false

TrajectoryPlannerROS: max_vel_x: 0.5 min_vel_x: 0.05 max_vel_theta: 2.0 min_vel_theta: 0.5 min_in_place_vel_theta: 0.5 max_rotational_vel: 2.0 min_in_place_rotational_vel: 1.0

holonomic_robot: false yaw_goal_tolerance: 0.3 # about 6 degrees xy_goal_tolerance: 0.10 # 5 cm gdist_scale: 0.6 pdist_scale: 0.8

heading_lookahead: 1.5 heading_scoring: true heading_scoring_timestep: 0.5 meter_scoring: false oscillation_reset_dist: 0.5

costmap_common_params obstacle_range: 2.5 raytrace_range: 3.0 footprint: [[27, -26], [27, 26], [-27, 26], [-27, -26]]# cw or ccw

robot_radius: 0.35

inflation_radius: 0.3 max_obstacle_height: 0.6 min_obstacle_height: 0.0 observation_sources: scan scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}

global_costmap_params.yaml global_costmap: global_frame: map robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 1.0 static_map: false rolling_window: false resolution: 0.01 transform_tolerance: 2.0 map_type: costmap

local_costmap_params local_costmap: global_frame: odom robot_base_frame: base_link update_frequency: 5.0 publish_frequency: 1.0 static_map: false rolling_window: true width: 5.0 height: 5.0 resolution: 0.01 transform_tolerance: 1.0 map_type: costmap

Here the link to frames.pdf: http://www.kunst-raum.de/frames.pdf

Hope that somebody may help me.

Thanks for reading

Michael