/
carmen.ini
660 lines (527 loc) · 20.4 KB
/
carmen.ini
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[*]
# Parameters for all robots
# robot parameters
robot_allow_rear_motion off
robot_rectangular 0 # right now used only by robotgraph
robot_use_laser on
robot_use_sonar off
robot_converge on
robot_timeout 10.0
robot_collision_avoidance on
# robotgraph parameters
robotgraph_add_control on
robotgraph_history off
robotgraph_polygons 25.0
robotgraph_connect_distance 40
robotgraph_maxrange 5.0 # in metres
robotgraph_rear_laser off
robotgraph_show_velocity off
robotgraph_show_vector on
#joystick parameters
joystick_head off
joystick_deadspot on
joystick_deadspot_size 0.2
# simulator parameters
simulator_use_rear_laser off
simulator_dt 0.172
simulator_time 0.172
simulator_use_robot on
simulator_num_readings 181
simulator_laser_probability_of_random_max .0001
simulator_laser_probability_of_random_reading .0001
simulator_laser_sensor_variance .001
simulator_sonar_probability_of_random_max .01
simulator_sonar_probability_of_random_reading .005
simulator_sonar_sensor_variance .05
# localize parameters
localize_num_particles 250
localize_max_range 50.0
localize_use_rear_laser off
localize_do_scanmatching off # use gradient descent to
# improve the position of the
# mean scan
localize_constrain_to_map off # prevent particles from
# occuring in non-free-space in
# map
localize_update_distance 0.20 # max distance between
# resampling
localize_laser_skip 3 # process every nth laser beam
localize_min_wall_prob 0.25 # below this value, sensor
# readings are considered
# to be outliers
localize_outlier_fraction 0.90 # if a reading is an outlier
# in this fraction of the
# particles, it is ignored
localize_odom_a1 0.2 # a1 = error in rotation
# as a function of rotation
localize_odom_a2 0.01 # a2 = error in rotation
# as a function of translation
localize_odom_a3 0.2 # a3 = error in translation
# as a function of translation
localize_odom_a4 0.01 # a4 = error in translation
# as a function of rotation
localize_occupied_prob 0.5 # map probability to be
# considered occupied
localize_lmap_std 0.30 # fuzziness of normal
# localization map
localize_global_lmap_std 0.6 # fuzziness of global
# localization map
localize_global_evidence_weight 0.01 # the fraction of a normal
# reading that each sensor
# reading should considered to
# be during global localization.
localize_global_distance_threshold 2.0 # min cluster size to be
# considered global localization.
localize_global_test_samples 100000 # number of samples to test
# during global localization
# navigator parameters
navigator_planner conventional # which planner to use
navigator_num_lasers 360 # how many lasers to use
navigator_ant on # start up an ant interface
navigator_port 3330 # port to start ant interface on
navigator_update_map on
navigator_max_laser_range 50
navigator_max_collision_range 3
navigator_replan_frequency 5
navigator_smooth_path on
navigator_goal_size 0.25
navigator_goal_theta_tolerance 0.08
#logger parameters
logger_ascii off
logger_odometry on
logger_laser on
logger_robot_laser on
logger_localize on
logger_params on
logger_use_ant off
logger_ant_port 3338
#mapper parameters
mapper_resolution 0.025 # m/gridcell
mapper_downsample 4
mapper_wallthickness 0.3 # metres
mapper_mapsize 2000 # pixels
mapper_startangle 0.0 # radians
mapper_border 20 # pixels
#vasco parameters
vasco_pos_diff_min_dist 0.01
vasco_pos_diff_min_rotation 0.001745277
vasco_pos_diff_max_rotation 3.1415
vasco_use_correction 1
vasco_local_map_max_range 2500.0
vasco_local_map_resolution 6.0
vasco_local_map_kernel_length 7
vasco_local_map_num_convolve 1
vasco_local_map_unknown_val 0.01
vasco_local_map_history_length 12000
vasco_local_map_max_used_history 150
vasco_local_map_min_bbox_distance 20.0
vasco_pos_correction_forward_step 7.5
vasco_pos_correction_sideward_step 7.5
vasco_pos_correction_rotation_step 0.125
vasco_pos_correction_num_decrease_loop 10
vasco_use_people_prob 0
vasco_people_prob_kernel_length 3
vasco_people_prob_num_convolve 0
vasco_global_map_max_range 800.0
vasco_global_map_size_x 2000
vasco_global_map_size_y 1500
vasco_global_map_resolution 5.0
vasco_global_map_ray_model 1
#vasco_global_map_start_pos_o -91.333
vasco_global_map_unknown_val 0.2
vasco_laser_max_usable_range 5113
#errorgraph parameters
errorgraph_circular_shift_radius 0.1
errorgraph_circular_shift_num 50
errorgraph_inverse_rotational_epsilon 64
errorgraph_rotational_num 50
#gps related parameters
gps_originlat 42.8417
gps_originlon 71.7214
gps_integrate_with_odometry on
gps_initialtheta 1.5708 #initial robot dir. North(pi/2)
gps_initialthetastd 0.7854 #pi/4
gps_odomdiststdper1m 0.1 #in m
gps_odomthetastdper1m 0.0028 #in rad
gps_odomthetastdper1rad 0.0139 #in rad
gps_gpsxystdper1precdil 1.0 #in m
[pearl]
# Parameters for Pearl - Nursebot Mark II
base_type scout
# scout parameters
scout_dev /dev/ttyS0 # on pearl2
# laser parameters
laser_front_laser_dev /dev/ttyS1
laser_front_laser_type LMS
laser_front_laser_baud 38400
laser_front_laser_resolution 1.0
laser_rear_laser_dev none
laser_laser3_dev none
laser_laser4_dev none
robotgraph_rear_laser on
# robot parameters
robot_length 0.6 # measurements in m
robot_width 0.46
robot_frontlaser_offset 0.25
robot_rearlaser_offset 0.4
robot_front_laser_max 50 # m
robot_min_approach_dist 0.3
robot_min_side_dist 0.1
robot_acceleration 0.2 # m/s^2
robot_deceleration 0.5 # m/s^2
robot_reaction_time 0.2
robot_max_t_vel 0.4 # m/s
robot_max_r_vel 0.8 # rad/sec
robot_curvature 500
robot_theta_gain 0.5
robot_theta_d_gain 1
robot_displacement_gain 0.75
robot_allow_rear_motion on
robot_rectangular 1
robot_use_sonar off
#joystick parameters
joystick_headserver pearl1
localize_robot_particles 125 # number of samples
[flo]
# Parameters for Flo - Nursebot Mark I
base_type scout
# scout parameters
scout_dev /dev/ttyS0
# laser parameters
laser_front_laser_dev /dev/ttyS1
laser_front_laser_type PLS
laser_front_laser_baud 38400
laser_front_laser_resolution 1.0
laser_rear_laser_dev none
laser_laser3_dev none
laser_laser4_dev none
# robot parameters
robot_length 0.41 # measurements in m
robot_width 0.39
robot_frontlaser_offset 0.0
robot_rearlaser_offset 0.0
robot_front_laser_max 50.0
robot_acceleration 0.3
robot_deceleration 0.6
robot_min_approach_dist 0.2
robot_min_side_dist 0.05
robot_reaction_time 0.2
robot_max_t_vel 0.4
robot_max_r_vel 0.8
robot_curvature 500
robot_theta_gain 0.75
robot_theta_d_gain 0.75
robot_displacement_gain 0.75
robot_num_sonars 16
robot_max_sonar 10.668
robot_sensor_angle 0.5236
robot_sonar_offsets 0.195 0 0 0.178 0.074 0.393 0.134 0.134 0.785 0.072 0.173 1.178 0 0.185 1.571 -0.072 0.173 1.965 -0.134 0.134 2.356 -0.178 0.074 2.748 -0.195 0 3.141 -0.178 -0.074 -2.748 -0.134 -0.134 -2.356 -0.072 -0.173 -1.965 0 -0.185 -1.571 0.072 -0.173 -1.173 0.134 -0.134 -0.785 0.178 -0.174 -0.393
#joystick parameters
joystick_headserver flo1
[friartuck]
# Parameters for Friar Tuck - Pioneer I
base_type pioneer
# pioneer parameters
pioneer_dev /dev/ttyS16
pioneer_version 1
pioneer_wheel_diameter 0.165 # diameter in m
pioneer_relative_wheel_size 1.3 # Relative size of the wheels
# compared to the original
# wheels.
pioneer_velocity_conversion_factor 0.0025332
# laser parameters
laser_front_laser_dev /dev/ttyS17
laser_front_laser_type LMS
laser_front_laser_baud 38400
laser_front_laser_resolution 1.0
laser_rear_laser_dev none
laser_laser3_dev none
laser_laser4_dev none
# robot parameters
robot_length 0.54 # measurements in m
robot_width 0.48
robot_frontlaser_offset 0.15
robot_rearlaser_offset -0.23
robot_front_laser_max 50.0
robot_min_approach_dist 0.15
robot_min_side_dist 0.10
robot_acceleration 1.0
robot_deceleration 1.0
robot_reaction_time 0.1
robot_max_t_vel 0.30
robot_max_r_vel 0.349
robot_curvature 500
robot_theta_gain 1.0
robot_theta_d_gain 0.3
robot_displacement_gain 0.75
robot_num_sonars 7
robot_max_sonar 10.668
robot_sensor_angle 0.5236
robot_use_sonar off
robot_sonar_offsets 0.06 0.125 1.571 0.1 0.1 0.524 0.12 -0.06 0.262 0.13 0 0 0.12 -0.06 -0.262 0.1 -0.1 -0.524 0.06 -0.125 -1.571
[bonnie]
# Parameters for Bonnie - Pioneer I
base_type pioneer
# pioneer parameters
pioneer_dev /dev/ttyS0
pioneer_version 1
pioneer_wheel_diameter 0.165 # diameter in m
pioneer_relative_wheel_size 1.3 # Relative size of the wheels
# compared to the original
# wheels.
pioneer_velocity_conversion_factor 0.0025332
# laser parameters
laser_front_laser_dev none
laser_rear_laser_dev none
laser_laser3_dev none
laser_laser4_dev none
# robot parameters
robot_use_laser off
robot_length 0.54 # measurements in m
robot_width 0.48
robot_frontlaser_offset 0.15
robot_front_laser_max 50.0
robot_rearlaser_offset -0.23
robot_min_approach_dist 0.15
robot_min_side_dist 0.10
robot_acceleration 0.50
robot_deceleration 2.0
robot_reaction_time 0.1
robot_max_t_vel 0.30
robot_max_r_vel 0.349
robot_curvature 500
robot_theta_gain 1.0
robot_theta_d_gain 1
robot_displacement_gain 0.75
robot_num_sonars 7
robot_max_sonar 10.668
robot_sensor_angle 0.5236
robot_use_sonar off
robot_sonar_offsets 0.06 0.125 1.571 0.1 0.1 0.524 0.12 -0.06 0.262 0.13 0 0 0.12 -0.06 -0.262 0.1 -0.1 -0.524 0.06 -0.125 -1.571
[robin]
# Parameters for Robin - Pioneer I
base_type pioneer
# pioneer parameters
pioneer_dev /dev/ttyS0
pioneer_version 1
pioneer_wheel_diameter 0.165 # diameter in m
pioneer_relative_wheel_size 1.3 # Relative size of the wheels
# compared to the original
# wheels.
pioneer_velocity_conversion_factor 0.0025332
# laser parameters
laser_front_laser_dev /dev/ttyUSB0
laser_front_laser_type LMS
laser_front_laser_baud 38400
laser_front_laser_resolution 1.0
laser_rear_laser_dev /dev/ttyUSB1
laser_rear_laser_type LMS
laser_rear_laser_baud 38400
laser_rear_laser_resolution 1.0
laser_laser3_dev none
laser_laser4_dev none
# robot parameters
robot_length 0.54 # measurements in m
robot_width 0.48
robot_frontlaser_offset 0.15
robot_front_laser_max 50.0
robot_rearlaser_offset -0.23
robot_min_approach_dist 0.15
robot_min_side_dist 0.10
robot_acceleration 1.0
robot_deceleration 1.0
robot_reaction_time 0.1
robot_max_t_vel 0.30
robot_max_r_vel 0.349
robot_curvature 500
robot_theta_gain 1.0
robot_theta_d_gain 0.3
robot_displacement_gain 0.75
robot_use_sonar off
robot_sonar_offsets 0.125 -0.06 -1.571 0.1 -0.1 -0.524 0.06 -0.12 -0.262 0 -0.13 0 -0.06 -0.12 0.262 -0.1 -0.1 0.524 -0.125 -0.06 1.571
[dorothy]
# Parameters for Pioneer II
base_type pioneer
# pioneer parameters
pioneer_dev /dev/ttyS0
pioneer_version 2
pioneer_wheel_diameter 0.165 # diameter in m
pioneer_velocity_conversion_factor 0.001
# laser parameters
laser_front_laser_dev /dev/ttyS1
laser_front_laser_type LMS
laser_front_laser_baud 38400
laser_front_laser_resolution 1.0
laser_rear_laser_dev none
laser_laser3_dev none
laser_laser4_dev none
# robot parameters
robot_length 0.48 # measurements in m
robot_width 0.38
robot_frontlaser_offset 0.17
robot_rearlaser_offset 0.0
robot_front_laser_max 50.0
robot_min_approach_dist 0.30
robot_min_side_dist 0.10
robot_acceleration 0.50
robot_deceleration 3.0
robot_reaction_time 0.1
robot_max_t_vel 0.30
robot_max_r_vel 0.349
robot_curvature 500
robot_theta_gain 1.0
robot_theta_d_gain 0.3
robot_displacement_gain 0.75
robot_use_sonar off
pioneer_relative_wheel_size 1.3 # Relative size of the wheels
[oscar]
base_type xr4000
#laser parameters
laser_front_laser_dev /dev/ttyS0
laser_front_laser_type LMS
laser_front_laser_baud 38400
laser_front_laser_resolution 1.0
laser_rear_laser_dev none
laser_laser3_dev none
laser_laser4_dev none
# robot parameters
robot_length 0.63 # measurements in m
robot_width 0.63
robot_frontlaser_offset 0.28
robot_front_laser_max 50.0
robot_rearlaser_offset 0.0
robot_min_approach_dist 0.30
robot_min_side_dist 0.10
robot_acceleration 0.50
robot_deceleration 3.0
robot_reaction_time 0.1
robot_max_t_vel 0.3
robot_max_r_vel 0.5
robot_curvature 500
robot_theta_gain 1.0
robot_theta_d_gain 1
robot_displacement_gain 0.75
robot_use_sonar off
robot_num_sonars 24
robot_max_sonar 10.668
robot_sensor_angle 0.5236
robot_sonar_offsets 0.208 0.027 0.131 0.194 0.08 0.393 0.167 0.128 0.655 0.128 0.167 0.916 0.080 0.194 1.178 0.027 0.208 1.44 -0.027 0.208 1.702 -0.080 0.194 1.964 -0.128 0.167 2.226 -0.167 0.128 2.487 -0.194 0.080 2.749 -0.208 0.027 3.011 -0.208 -0.027 -3.011 -0.194 -0.080 -2.749 -0.167 -0.128 -2.487 -0.128 -0.167 -2.225 -0.080 -0.194 -1.964 -0.027 -0.208 -1.702 0.027 -0.208 -1.44 0.080 -0.194 -1.178 0.128 -0.167 -0.916 0.167 -0.128 -0.655 0.194 -0.080 -0.393 0.208 -0.027 -0.131
[xavier]
# robot parameters
robot_length 0.60 # measurements in m
robot_width 0.60
robot_frontlaser_offset 0.25
robot_front_laser_max 50.0
robot_rearlaser_offset 0.40
robot_min_approach_dist 0.30
robot_min_side_dist 0.10
robot_acceleration 0.40
robot_deceleration 1.0
robot_reaction_time 0.2
robot_max_t_vel 0.30
robot_max_r_vel 0.8
robot_curvature 500
robot_theta_gain 0.5
robot_theta_d_gain 1
robot_displacement_gain 0.75
robot_allow_rear_motion off
robot_rectangular 0
robot_use_sonar off
localize_robot_particles 125 # number of samples
[grace]
# Parameters for Amelia/Vikia/Grace B21
base_type b21
# laser parameters
laser_front_laser_dev /dev/cur60
laser_front_laser_type PLS
laser_front_laser_baud 38400
laser_front_laser_resolution 1.0
laser_rear_laser_dev none
laser_laser3_dev none
laser_laser4_dev none
robotgraph_rear_laser off
# robot parameters
robot_length 0.54 # measurements in m
robot_width 0.54
robot_frontlaser_offset 0.0
robot_rearlaser_offset 0.0
robot_front_laser_max 50 # m
robot_min_approach_dist 0.3
robot_min_side_dist 0.1
robot_acceleration 0.4 # m/s^2
robot_deceleration 1.0 # m/s^2
robot_reaction_time 0.2
robot_max_t_vel 0.5 # m/s
robot_max_r_vel 0.8 # rad/sec
robot_curvature 500
robot_theta_gain 0.5
robot_theta_d_gain 1
robot_displacement_gain 0.75
robot_allow_rear_motion on
robot_rectangular 0
[albert]
# Parameters for University of Freiburg B21R
base_type rflex
rflex_type b21r
rflex_dev /dev/ttyR0
# laser parameters
laser_front_laser_dev /dev/ttyR3
laser_front_laser_type LMS
laser_front_laser_baud 38400
laser_front_laser_resolution 1.0
laser_rear_laser_dev none
laser_laser3_dev none
laser_laser4_dev none
robotgraph_rear_laser off
# robot parameters
robot_length 0.54 # measurements in m
robot_width 0.54
robot_frontlaser_offset 0.0
robot_rearlaser_offset 0.0
robot_front_laser_max 50 # m
robot_min_approach_dist 0.3
robot_min_side_dist 0.1
robot_acceleration 0.4 # m/s^2
robot_deceleration 1.0 # m/s^2
robot_reaction_time 0.2
robot_max_t_vel 0.5 # m/s
robot_max_r_vel 0.8 # rad/sec
robot_curvature 500
robot_theta_gain 0.5
robot_theta_d_gain 1
robot_displacement_gain 0.75
robot_allow_rear_motion on
robot_rectangular 0
[ringo]
# Parameters for CMU ATRV
base_type rflex
rflex_type atrv
rflex_dev /dev/ttyR0
laser_front_laser_dev /dev/ttyS1
laser_front_laser_type LMS
laser_front_laser_baud 38400
laser_front_laser_resolution 1.0
laser_rear_laser_dev none
laser_laser3_dev none
laser_laser4_dev none
gps_dev /dev/ttyR6
robotgraph_rear_laser off
# robot parameters
robot_length 1.30 # measurements in m
robot_width 0.85
robot_frontlaser_offset 0.48
robot_rearlaser_offset 0.0
robot_front_laser_max 50 # m
robot_min_approach_dist 0.3
robot_min_side_dist 0.1
robot_acceleration 0.4 # m/s^2
robot_deceleration 1.0 # m/s^2
robot_reaction_time 0.2
robot_max_t_vel 0.1 # m/s
robot_max_r_vel 0.8 # rad/sec
robot_curvature 500
robot_theta_gain 0.5
robot_theta_d_gain 1
robot_displacement_gain 0.75
robot_allow_rear_motion on
robot_rectangular 0