Integrate new orion

.gitignore

@@ -23,10 +23,6 @@ msg/_*.py
 *.dox
 *.wikidoc
 
-# Eclipse stuff
-.project
-.cproject
-
 # QtCreator stuff
 CMakeLists.txt.user
 

carmen_2dnav/config/base_local_planner.yml

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+TrajectoryPlannerROS:
+        # Robot Configuration Parameters
+        acc_lim_x: 1.0 # aceleration limit in x direction meters/sec^2
+        acc_lim_y: 0.05 # aceleration limit in y direction meters/sec^2
+        acc_lim_theta: 0.1 #rotational acceleration limit of the robot in radians/sec^2
+        max_vel_x: 0.2 #maximum forward velocity allowed for the base in meters/sec
+        min_vel_x: 0.05 #minimum forward velocity allowed for the base in meters/sec
+                        #(used to overcome friction)
+        max_vel_theta: 0.15 # max rotational velocity allowed for the base in radians/sec
+        min_vel_theta: -0.15 # min rotational velocity allowed for the base in radians/sec
+        min_in_place_rotational_vel: 0.05 #min in-place rotational velocity in rad/sec
+        escape_vel: -0.15 # Speed used for driving during escapes in meters/sec
+        holonomic_robot: false # if the robot is holonomic, define also y_vels - strafing velocities
+        # Goal Tolerance Parameters
+        yaw_goal_tolerance: 0.20 # tolerance in radians when achieving the goal
+        xy_goal_tolerance: 0.250 # tolerance in meters when achieving the goal
+        latch_xy_goal_tolerance: true # set to falso to prevent robot from in-place rotation when
+                                  #it reaches the goal xy location
+        # Forward Simulation Parameters
+        sim_time: 1.5 # trajectory forward-simulation time  in seconds
+        sim_granularity: 0.25 # the step size, in meters, between points of trajectory
+        angular_sim_granularity: 0.2 # the step size, in radians, between angular samples of trajectory
+        vx_samples: 20 # the number of samples to use when exploring the x velocity space
+        vtheta_samples: 40 # the number of samples to use when exploring the theta velocity space
+        controller_frequency: 2.0 # the frequency at which this controller will be called in Hz.
+        # Trajectory scoring parameters
+        meter_scoring: true # Whether the gdist_scale and pdist_scale parameters should assume that goal_distance and path_distance are expressed in units of meters or cells. Cells are assumed by default (false).
+        occdist_scale:  0.1 #The weighting for how much the controller should attempt to avoid obstacles. default 0.01
+        pdist_scale: 0.75  #     The weighting for how much the controller should stay close to the path it was given . default 0.6
+        gdist_scale: 1.0 #     The weighting for how much the controller should attempt to reach its local goal, also controls speed  default 0.8
+        heading_lookahead: 0.325  #How far to look ahead in meters when scoring different in-place-rotation trajectories
+        heading_scoring: false  #Whether to score based on the robot's heading to the path or its distance from the path. default false
+        heading_scoring_timestep: 0.8   #How far to look ahead in time in seconds along the simulated trajectory when using heading scoring (double, default: 0.8)
+        dwa: false #whether to use the DWA or Trajectory Rollout
+        publish_cost_grid_pc: false # whether or not to publish the cost grid that the planner will use when planning
+        global_frame_id: odom # the frame to set for the cost_cloud
+        oscillation_reset_dist: 0.2 #How far the robot must travel in meters before oscillation flags are reset
+        prune_plan: true #whether or not to eat up the plan as the robot moves along the path
+                       #If set to true, points will fall off the end of the plan once the robot moves 1 meter past them
+        #See base_local_planner::TrajectoryPlanner Class Reference
+        esca1pe_reset_dist: 0.2 #The distance the robot must travel before it can leave escape mode
+        escape_reset_theta: 0.03 # The angle that robot must turn before it can leave escape mode
+        simple_attractor: false # Enables simple attraction to a goal point
+        #dwa_local_planner parameters
+        goal_distance_bias: 10 #In DWA the weighting for how much the controller should attempt to reach its local goal, also controls speed (double, default: 24.0)
+        path_distance_bias: 22 #In DWA the weighting for how much the controller should stay close to the path it was given (double, default: 32.0)

carmen_2dnav/config/costmap_common.yml

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+obstacle_range: 2.5 #range where obstacle is sensed
+raytrace_range: 3.0 #range for making sure that there are no obstacles in that direction
+#footprint: footprint_padding: 0.1 # planar size of the robot
+footprint: [[0.15, 0.15], [0.15, -0.15], [-0.15, -0.15], [-0.15, 0.15]]
+robot_radius: 0.30 # perhaps a radius of the robot. I made it bigger that leobot by 0.05
+inflation_radius: 0.5 # the radius that assures that there is no collision possibility of different kind. See wiki for more
+cost_scaling_factor: 10.0 # setting leobot to be aggressive close to the obstacle by scaling the cost function
+transform_tolerance: 0.8 # delay of tf for the case if connection/communicaton with the robot is lost. It is low since loebot will drive in museum
+controller_patience: 2.0 # how long to continue operation when controller stops
+
+lidar_scan: {
+  sensor_frame: laser_link, #where sensor is situated on the robot
+  observation_persistence: 1.0, #How long to keep each sensor reading in seconds. A value of 0.0 will only keep the most recent reading.
+  max_obstacle_height: 2.5, #maximum height of the obstacle
+  min_obstacle_height: 0.0, #minimum heiht of the obstacle.
+  data_type: LaserScan, # where is the data obtained from
+  topic: leobot/laser/scan, # the name of the topic where lidar publishes
+  marking: true, #shall ROS mark the obstacles
+  clearing: true #shall ROS clear deprecated marking
+}

carmen_2dnav/config/global_costmap.yml

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+global_costmap: #The global_frame and the robot_base_frame 	attributes	define	the	transformation	between	the map	and	the	robot.
+    global_frame: map #sets the global frame
+    robot_base_frame: base_link #frame of the robot
+    update_frequency: 2.0 #freqency of the map update in Hz
+    publish_frequency: 1.5 # rate, in Hz, at which the costmap will publish visualization information
+    static_map: true # whether or not the costmap should initialize itself based on a map served by the map_server

carmen_2dnav/config/local_costmap.yml

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+local_costmap:
+      global_frame: odom
+      robot_base_frame: base_link
+      update_frequency: 2.0
+      publish_frequency: 1.5
+      static_map: false
+      rolling_window: true
+      width: 5.0
+      height: 5.0
+      resolution: 0.1
+      transform_tolerance: 0.5
+      planner_frequency: 1.0
+      planner_patiente: 5.0

carmen_2dnav/map/kitchen.yaml

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+image: kitchen.pgm
+resolution: 0.025000
+origin: [-5.000000, -5.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196