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added maxl config doc
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@Divyanshu-Sahu
Divyanshu-Sahu committed Dec 8, 2020
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126 changes: 126 additions & 0 deletions docs/source/config_maxl.rst
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.. _maxl_planner:

=======================================================
Config : Controller - MaxL
=======================================================

Overview
--------
MaxL Planner is a package that is used to drive the robot. It issues the linear and angular velocity commands that are needed to reach the goal.

Robot Parameter Description
---------------------------

1. Robot Configuration Parameters
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

+------------------------+------------+--------------------------------------------------------------------------------------+
| Parameter | Units | Description |
+========================+============+======================================================================================+
| maxSpeed | S.I | Maximum possible linear velocity |
+------------------------+------------+--------------------------------------------------------------------------------------+
| maxAccel | S.I | Maximum possible linear acceleration |
+------------------------+------------+--------------------------------------------------------------------------------------+
| use_laser | true/false | If true, the robot uses the rpLidar Sensor otherwise uses velodyn Sensor for planning|
+------------------------+------------+--------------------------------------------------------------------------------------+
| odomTopic | String | The topic name which publishes the odometry |
+------------------------+------------+--------------------------------------------------------------------------------------+
| velodyneTopic | String | The topic name which publishes the velodyn sensor data |
+------------------------+------------+--------------------------------------------------------------------------------------+
| scanTopic | String | The topic name which publishes the rpLidar sensor data |
+------------------------+------------+--------------------------------------------------------------------------------------+
| plot_path | true/false | TO BE FILLED |
+------------------------+------------+--------------------------------------------------------------------------------------+
| pathFolder | File path | The relative path to the path folder |
+------------------------+------------+--------------------------------------------------------------------------------------+
| pathFile | String | The name of the path |
+------------------------+------------+--------------------------------------------------------------------------------------+
| autonomyMode | true/false | TO BE FILLED |
+------------------------+------------+--------------------------------------------------------------------------------------+
| map_frame | String | Name of the map frame |
+------------------------+------------+--------------------------------------------------------------------------------------+
| robot_frame | String | Name of the robot base frame |
+------------------------+------------+--------------------------------------------------------------------------------------+
| velodyne_frame | String | Name of the velodyn Sensor frame |
+------------------------+------------+--------------------------------------------------------------------------------------+
| laser_frame | String | Name of the rpLidar Sensor frame |
+------------------------+------------+--------------------------------------------------------------------------------------+

2. Robot Footprint
^^^^^^^^^^^^^^^^^^
+------------------------+--------------------------+--------------------------------------------------------------------------------------+
| Parameter | Units | Description |
+========================+==========================+======================================================================================+
| vehicleLength | (Numeric) eg. 0.98 | Length of the vehicle |
+------------------------+--------------------------+--------------------------------------------------------------------------------------+
| vehicleWidth | (Numeric) eg. 0.65 | Width of the vehicle |
+------------------------+--------------------------+--------------------------------------------------------------------------------------+

3. Lookahead Parameters
^^^^^^^^^^^^^^^^^^^^^^^
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| Parameter | Units | Description |
+=====================================+========================+============================================================================+
| min_lookahead | (Numeric) eg.0.2 | The minimum lookahead on the global path for the robot |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| max_lookahead | (Numeric) eg. 0.65 | The minimum lookahead on the global path for the robot |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| closest_point_index_search | (Numeric) eg. 10 | TO BE FILLED |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| max_y_deviation | (Numeric) eg. 0.5 | TO BE FILLED |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| min_radius | (Numeric) eg. 0.1 | TO BE FILLED |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| max_radius | (Numeric) eg. 1.0 | TO BE FILLED |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| max_omega_radius | (Numeric) eg. 1.0 | TO BE FILLED |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| max_path_dev | (Numeric) eg. 1.0 | TO BE FILLED |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| lookahead_point_distance | (Numeric) eg. 0.1 | TO BE FILLED |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+

4. MaxL Parameters
^^^^^^^^^^^^^^^^^^^^^^^
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| Parameter | Units | Description |
+=====================================+========================+============================================================================+
| yaw_gain | (Numeric) eg.2.5 | Yaw gain used when robot is in motion |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| stop_yaw_gain | (Numeric) eg. 0.6 | Yaw gain used when robot is stopped/almost stopped |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| max_yaw_rate | (Numeric) eg. 0.5 | Maximum yaw rate for the robot |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| direction_weight | (Numeric) eg. 0.02 | TO BE FILLED |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| direction_threshold | (Numeric) eg. 120 | TO BE FILLED |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| high_accuracy_multiplier | (Numeric) eg. 0.4 | High accuracy multiplier for reaching the goal (0,1] |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| in_place_rotation_penalty | (Numeric) eg. 0.05 | Scoring parameter. Higher value penalises in place rotation more |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| goal_direction_preference | (Numeric) eg. 0.2 | Scoring parameter. Higher value means controller prefers paths |
| | | oriented towards the goal. |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| x_inflate | (Numeric) eg. 0.16 | Obstacle Inflation in the x direction |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| y_inflate | (Numeric) eg. 0.80 | Obstacle Inflation in the y direction |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| vis_pointcloud | true/false | Parameter to enable visualisation of detailed data (pointcloud data) |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| obstacle_horizon | (Numeric) eg. 3.5 | Parameter used for cropping the pointcloud |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| min_path_range | (Numeric) eg. 1.0 | TO BE FILLED |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| initial_path_scale | (Numeric) eg. 1.0 | Initial path scale value. Path Scales scale the paths and distances. |
| | | Low pathScale means path elongation and vice-versa. |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| min_path_scale | (Numeric) eg. 0.75 | Minimum path scale value. For particular local goal, pathScale starts |
| | | with initial value, finds a path, then value of path scale is decreased |
| | | to find a longer solution path, till it hits the minPathScale. |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| path_scale_step | (Numeric) eg. 0.25 | Path Scale step value |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| use_odom_velocity | true/false | Parameter to take velocity from odom messages |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+

2 changes: 2 additions & 0 deletions docs/source/index.rst
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Expand Up @@ -36,6 +36,8 @@ Mowito's Navigation Stack documentation

config_pp

config_maxl

config_mission_executive

rosbot_real
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