Help with global planning of hector_quadrotor

asked 2015-03-23 12:38:29 -0500

LisCampo gravatar image

updated 2015-03-23 12:42:49 -0500

gvdhoorn gravatar image

Hi! I am bringing up with hector_quadrotor and after one month I has not obtain results. I am working with ros hydro and gazebo. I has written a c++ planner like turtlebot tutorial and it works well, but when I intend with quadrotor, it doesn't move. The trayectory is marked on rviz but quadrotor does nothing.

Can anyone help me?

My move_base is this:

<launch>
  <include file="$(find hector_quadrotor_planner)/launch/includes/smoother.launch.xml"/>
  <arg name="odom_topic" default="odom" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_global_planner" value="wavefront/WaveFrontROS"/>
    <rosparam file="$(find hector_quadrotor_planner)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find hector_quadrotor_planner)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find hector_quadrotor_planner)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find hector_quadrotor_planner)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find hector_quadrotor_planner)/param/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find hector_quadrotor_planner)/param/move_base_params.yaml" command="load" />
    <remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
    <remap from="odom" to="$(arg odom_topic)"/>

  </node>
</launch>

My amcl is this:

<launch>
  <arg name="use_map_topic"  default="false"/>
  <arg name="scan_topic"     default="scan"/> 


  <node pkg="amcl" type="amcl" name="amcl">
    <param name="use_map_topic"             value="$(arg use_map_topic)"/>
    <!-- Publish scans from best pose at a max of 10 Hz -->
    <param name="odom_model_type"           value="diff"/>
    <param name="odom_alpha5"               value="0.1"/>
    <param name="gui_publish_rate"          value="10.0"/>
    <param name="laser_max_beams"             value="60"/>
    <param name="laser_max_range"           value="12.0"/>
    <param name="min_particles"             value="500"/>
    <param name="max_particles"             value="2000"/>
    <param name="kld_err"                   value="0.05"/>
    <param name="kld_z"                     value="0.99"/>
    <param name="odom_alpha1"               value="0.2"/>
    <param name="odom_alpha2"               value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3"               value="0.2"/>
    <param name="odom_alpha4"               value="0.2"/>
    <param name="laser_z_hit"               value="0.5"/>
    <param name="laser_z_short"             value="0.05"/>
    <param name="laser_z_max"               value="0.05"/>
    <param name="laser_z_rand"              value="0.5"/>
    <param name="laser_sigma_hit"           value="0.2"/>
    <param name="laser_lambda_short"        value="0.1"/>
    <param name="laser_model_type"          value="likelihood_field"/>
    <param name="laser_model_type" value="beam"/>
    <param name="laser_likelihood_max_dist" value="2.0"/> 
    <param name="update_min_d"              value="0.25"/>
    <param name="update_min_a"              value="0.2"/>
    <param name="odom_frame_id"             value="odom"/>
    <param name="base_frame_id"             value="base_footprint"/>
    <param name="resample_interval"         value="1"/>
    <!-- Increase tolerance because the computer can get quite busy -->
    <param name="transform_tolerance"       value="1.0"/>
    <param name="recovery_alpha_slow"       value="0.0"/>
    <param name="recovery_alpha_fast"       value="0.0"/>

  <remap from="scan"                      to="$(arg scan_topic)"/> 
  </node>
</launch

And my amcl launch is

<launch>
  <!-- Map server -->
  <arg name="map_file" default="$(find hector_quadrotor_planner)/maps/willow-2010-02-18-0.10.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />


  <include file="$(find hector_quadrotor_planner)/launch/includes/amcl.launch.xml"/>


  <include file="$(find hector_quadrotor_planner)/launch/includes/move_base.launch.xml"/>

</launch>

I don't know if this is correct. Also I've done modifications on quadorotor gazebo.

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Comments

how are you getting the quad rotor up into the air and keeping it there?

jessiems10 gravatar imagejessiems10 ( 2015-10-01 12:37:34 -0500 )edit