From 8ff014db4a3d4950d0709a79834afb71a7bc409b Mon Sep 17 00:00:00 2001 From: Marwan Taher Date: Fri, 22 May 2020 01:53:14 +0100 Subject: [PATCH 1/7] Initial commit --- doc/parameters/param_list.md | 290 +++++++++++++++++++++++++++++++++++ 1 file changed, 290 insertions(+) create mode 100644 doc/parameters/param_list.md diff --git a/doc/parameters/param_list.md b/doc/parameters/param_list.md new file mode 100644 index 0000000000..d6ca8ac9ba --- /dev/null +++ b/doc/parameters/param_list.md @@ -0,0 +1,290 @@ + +## Node: bt_navigator +| Parameter | Default | Description | +| ----------| --------| ------------| +| bt_xml_filename | N/A | | +| plugin_lib_names (has opts) | N/A | | +| transform_tolerance | 0.1 | | +| global_frame | "map" | | +| robot_base_frame | "base_link" | | + + +## Node: controller_server +| Parameter | Default | Description | +| ----------| --------| ------------| +| controller_frequency | 20.0 | | +| controller_plugin_ids | "FollowPath" | | +| controller_plugin_types | "dwb_core::DWBLocalPlanner" | | +| min_x_velocity_threshold | 0.0001 | | +| min_y_velocity_threshold | 0.0001 | | +| min_theta_velocity_threshold | 0.0001 | | +| required_movement_radius | 0.5 | | +| movement_time_allowance | 10.0 | | + +# costmaps +## Node: costmap_2d_ros + +Namespace: /parent_ns/local_ns + +| Parameter | Default | Description | +| ----------| --------| ------------| +| always_send_full_costmap | false | | +| footprint_padding | 0.01 | | +| footprint | "[]" | | +| global_frame | "map" | | +| height | 5 | | +| width | 5 | | +| lethal_cost_threshold | 100 | | +| map_topic | "parent_namespace/map" | | +| observation_sources | "" | | +| origin_x | 0.0 | | +| origin_y | 0.0 | | +| plugin_names | {"static_layer", "obstacle_layer", "inflation_layer"} | | +| plugin_types | {"nav2_costmap_2d::StaticLayer", "nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::InflationLayer"} | | +| publish_frequency | 1.0 | | +| resolution | 0.1 | | +| robot_base_frame | "base_link" | | +| robot_radius| 0.1 | | +| rolling_window | false | | +| track_unknown_space | false | | +| transform_tolerance | 0.3 | | +| trinary_costmap | true | | +| unknown_cost_value | 255 | | +| update_frequency | 5.0 | +| use_maximum | false | | +| clearable_layers | "obstacle_layer" | | + +### static_layer plugin +| Parameter | Default | Description | +| ----------| --------| ------------| +| static_layer.enabled | true | | +| static_layer.subscribe_to_updates | false | | +| static_layer.subscribe_to_updates | false | | +| static_layer.map_subscribe_transient_local | true | | +| static_layer.transform_tolerance | 0.0 | | + +### inflation_layer plugin +| Parameter | Default | Description | +| ----------| --------| ------------| +| inflation_layer.enabled | true | | +| inflation_layer.inflation_radius | 0.55 | | +| inflation_layer.cost_scaling_factor | 10.0 | | +| inflation_layer.inflate_unknown | false | | +| inflation_layer.inflate_around_unknown | false | | + +### obstacle_layer plugin +| Parameter | Default | Description | +| ----------| --------| ------------| +| obstacle_layer.enabled | true | | +| obstacle_layer.footprint_clearing_enabled | true | | +| obstacle_layer.max_obstacle_height | 2.0 | | +| obstacle_layer.combination_method | 1 | | +| obstacle_layer.observation_sources | "" | [data source topic](#source-anchor) | +| [source](#source-anchor).topic | "" | | +| [source](#source-anchor).sensor_frame | "" | | +| [source](#source-anchor).observation_persistence | 0.0 | | +| [source](#source-anchor).expected_update_rate | 0.0 | | +| [source](#source-anchor).data_type | "LaserScan" | | +| [source](#source-anchor).min_obstacle_height | 0.0 | | +| [source](#source-anchor).max_obstacle_height | 0.0 | | +| [source](#source-anchor).inf_is_valid | false | | +| [source](#source-anchor).marking | true | | +| [source](#source-anchor).clearing | false | | +| [source](#source-anchor).obstacle_range | 2.5 | | +| [source](#source-anchor).raytrace_range | 3.0 | | + +### voxel_layer plugin + +*Note*: These parameters will only get declared if `"voxel_layer"` is appended to [plugin_names]() and `"nav2_costmap_2d::VoxelLayer"` is appended to [plugin_types](). +| Parameter | Default | Description | +| ----------| --------| ------------| +| voxel_layer.enabled | true | | +| voxel_layer.footprint_clearing_enabled | true | | +| voxel_layer.max_obstacle_height | 2.0 | | +| voxel_layer.z_voxels | 10 | | +| voxel_layer.origin_z | 0.0 | | +| voxel_layer.z_resolution | 0.2 | | +| voxel_layer.unknown_threshold | 15 | | +| voxel_layer.mark_threshold | 0 | | +| voxel_layer.combination_method | 1 | | +| voxel_layer.publish_voxel_map | false | | + +# dwb_controller + +### dwb_local_planner +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.critics | | | +| dwb_plugin_name_.prune_plan | true | | +| dwb_plugin_name_.prune_distance | 1.0 | | +| dwb_plugin_name_.debug_trajectory_details | false | | +| dwb_plugin_name_.trajectory_generator_name | "dwb_plugins::StandardTrajectoryGenerator" | | +| dwb_plugin_name_.goal_checker_name | "dwb_plugins::SimpleGoalChecker" | | +| dwb_plugin_name_.transform_tolerance | 0.1 | | +| dwb_plugin_name_.short_circuit_trajectory_evaluation | true | | +| dwb_plugin_name_.path_distance_bias | N/A | | +| dwb_plugin_name_.goal_distance_bias | | | +| dwb_plugin_name_.occdist_scale | | | +| dwb_plugin_name_.max_scaling_factor | | | +| dwb_plugin_name_.scaling_speed | | | +| dwb_plugin_name_.PathAlign.scale | | | +| dwb_plugin_name_.GoalAlign.scale | | | +| dwb_plugin_name_.PathDist.scale | | | +| dwb_plugin_name_.GoalDist.scale | | | + +### publisher +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.publish_evaluation |true | | +| dwb_plugin_name_.publish_global_plan | true | | +| dwb_plugin_name_.publish_transformed_plan | true | | +| dwb_plugin_name_.publish_local_plan | true | | +| dwb_plugin_name_.publish_trajectories | true | | +| dwb_plugin_name_.publish_cost_grid_pc | false | | +| dwb_plugin_name_.marker_lifetime | 0.1 | | + +### map_grid +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.name.aggregation_type | "last" | | + +### oscillation +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.name.x_only_threshold | 0.05 | | + +### kinematic_parameters +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.max_vel_theta | 0.0 | | +| dwb_plugin_name_.min_speed_xy | 0.0 | | +| dwb_plugin_name_.max_speed_xy | 0.0| | +| dwb_plugin_name_.min_speed_theta | 0.0 | | +| dwb_plugin_name_.min_vel_x | 0.0 | | +| dwb_plugin_name_.min_vel_y | 0.0 | | +| dwb_plugin_name_.max_vel_x | 0.0 | | +| dwb_plugin_name_.max_vel_theta | 0.0 | | +| dwb_plugin_name_.acc_lim_x | 0.0 | | +| dwb_plugin_name_.acc_lim_y | 0.0 | | +| dwb_plugin_name_.acc_lim_theta | 0.0 | | +| dwb_plugin_name_.decel_lim_x | 0.0 | | +| dwb_plugin_name_.decel_lim_y | 0.0 | | +| dwb_plugin_name_.decel_lim_theta | 0.0 | | + +### xy_theta_iterator +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.vx_samples | 20 | | +| dwb_plugin_name_.vy_samples | 5 | | +| dwb_plugin_name_.vtheta_samples | 20| | + +### base_obstacle TrajectoryCritic +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.name.sum_scores | false | | + +### prefer_forward TrajectoryCritic +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.name.penalty | 1.0 | | +| dwb_plugin_name_.name.strafe_x | 0.1 | | +| dwb_plugin_name_.name.strafe_theta | 0.2 | | +| dwb_plugin_name_.name.theta_scale | 10.0 | | + +### twirling TrajectoryCritic +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.name.scale | 0.0 | | + +### simple_goal_checker plugin +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.xy_goal_tolerance | 0.25 | | +| dwb_plugin_name_.yaw_goal_tolerance | 0.25 | | +| dwb_plugin_name_.stateful | true | | + +### standard_traj_generator plugin +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.sim_time | 1.7 | | +| dwb_plugin_name_.discretize_by_time | false | | +| dwb_plugin_name_.time_granularity | 0.5 | | +| dwb_plugin_name_.linear_granularity | 0.5 | | +| dwb_plugin_name_.angular_granularity | 0.025 | | +| dwb_plugin_name_.include_last_point | true | | + +### limited_accel_generator plugin +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.sim_time | N/A | | + +### stopped_goal_checker plugin +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.rot_stopped_velocity | 0.25 | | +| dwb_plugin_name_.trans_stopped_velocity | 0.25 | | + +# lifecycle_manager +| Parameter | Default | Description | +| ----------| --------| ------------| +| node_names | N/A | | +| autostart | false | | + +# map_saver +| Parameter | Default | Description | +| ----------| --------| ------------| +| save_map_timeout | 2000 | | +| free_thresh_default | 0.25 | | +| occupied_thresh_default | 0.65 | | + +# map_server +| Parameter | Default | Description | +| ----------| --------| ------------| +| yaml_filename | N/A | | +| topic_name | "map" | | +| frame_id | "map" | | + +# planner_server +| Parameter | Default | Description | +| ----------| --------| ------------| +| planner_plugin_ids | "GridBased" | | +| planner_plugin_types | "nav2_navfn_planner/NavfnPlanner" | | + +# navfn_planner +| Parameter | Default | Description | +| ----------| --------| ------------| +| name.tolerance | 0.5 | | +| name.use_astar | false | | +| name.allow_unknown | true | | + +# waypoint_follower +| Parameter | Default | Description | +| ----------| --------| ------------| +| stop_on_failure | true | | +| loop_rate | 20 | | + +# recovers +## recovery_server +| Parameter | Default | Description | +| ----------| --------| ------------| +| costmap_topic | "local_costmap/costmap_raw" | | +| footprint_topic | "local_costmap/published_footprint" | | +| cycle_frequency | 10.0 | | +| transform_tolerance | 0.1 | | +| global_frame | "odom" | | +| robot_base_frame | "base_link" | | +| plugin_names | {"spin", "back_up", "wait"}| | +| plugin_types | {""nav2_recoveries/Spin"", ""nav2_recoveries/BackUp"", ""nav2_recoveries/Wait""} | | + +## spin plugin +| Parameter | Default | Description | +| ----------| --------| ------------| +| simulate_ahead_time | 2.0 | | +| max_rotational_vel | 1.0 | | +| min_rotational_vel | 0.4 | | +| rotational_acc_lim | 3.2 | | + +## back_up plugin +| Parameter | Default | Description | +| ----------| --------| ------------| +| simulate_ahead_time | 2.0 | | \ No newline at end of file From 18ad72504c4ca180f121235046c817a81178ba76 Mon Sep 17 00:00:00 2001 From: Marwan Taher Date: Fri, 22 May 2020 02:43:24 +0100 Subject: [PATCH 2/7] Added AMCL params and some formatting fixes --- doc/parameters/param_list.md | 84 +++++++++++++++++++++++++++++++++--- 1 file changed, 79 insertions(+), 5 deletions(-) diff --git a/doc/parameters/param_list.md b/doc/parameters/param_list.md index d6ca8ac9ba..98ed98a61a 100644 --- a/doc/parameters/param_list.md +++ b/doc/parameters/param_list.md @@ -1,5 +1,6 @@ -## Node: bt_navigator +# bt_navigator + | Parameter | Default | Description | | ----------| --------| ------------| | bt_xml_filename | N/A | | @@ -9,7 +10,8 @@ | robot_base_frame | "base_link" | | -## Node: controller_server +## controller_server + | Parameter | Default | Description | | ----------| --------| ------------| | controller_frequency | 20.0 | | @@ -22,6 +24,7 @@ | movement_time_allowance | 10.0 | | # costmaps + ## Node: costmap_2d_ros Namespace: /parent_ns/local_ns @@ -55,6 +58,7 @@ Namespace: /parent_ns/local_ns | clearable_layers | "obstacle_layer" | | ### static_layer plugin + | Parameter | Default | Description | | ----------| --------| ------------| | static_layer.enabled | true | | @@ -64,6 +68,7 @@ Namespace: /parent_ns/local_ns | static_layer.transform_tolerance | 0.0 | | ### inflation_layer plugin + | Parameter | Default | Description | | ----------| --------| ------------| | inflation_layer.enabled | true | | @@ -73,6 +78,7 @@ Namespace: /parent_ns/local_ns | inflation_layer.inflate_around_unknown | false | | ### obstacle_layer plugin + | Parameter | Default | Description | | ----------| --------| ------------| | obstacle_layer.enabled | true | | @@ -95,7 +101,7 @@ Namespace: /parent_ns/local_ns ### voxel_layer plugin -*Note*: These parameters will only get declared if `"voxel_layer"` is appended to [plugin_names]() and `"nav2_costmap_2d::VoxelLayer"` is appended to [plugin_types](). +*Note*: These parameters will only get declared if `"voxel_layer"` is appended to `plugin_names` parameter and `"nav2_costmap_2d::VoxelLayer"` is appended to `plugin_types` parameter. | Parameter | Default | Description | | ----------| --------| ------------| | voxel_layer.enabled | true | | @@ -112,6 +118,7 @@ Namespace: /parent_ns/local_ns # dwb_controller ### dwb_local_planner + | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.critics | | | @@ -133,6 +140,7 @@ Namespace: /parent_ns/local_ns | dwb_plugin_name_.GoalDist.scale | | | ### publisher + | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.publish_evaluation |true | | @@ -144,16 +152,19 @@ Namespace: /parent_ns/local_ns | dwb_plugin_name_.marker_lifetime | 0.1 | | ### map_grid + | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.name.aggregation_type | "last" | | ### oscillation + | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.name.x_only_threshold | 0.05 | | ### kinematic_parameters + | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.max_vel_theta | 0.0 | | @@ -172,6 +183,7 @@ Namespace: /parent_ns/local_ns | dwb_plugin_name_.decel_lim_theta | 0.0 | | ### xy_theta_iterator + | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.vx_samples | 20 | | @@ -179,11 +191,13 @@ Namespace: /parent_ns/local_ns | dwb_plugin_name_.vtheta_samples | 20| | ### base_obstacle TrajectoryCritic + | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.name.sum_scores | false | | ### prefer_forward TrajectoryCritic + | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.name.penalty | 1.0 | | @@ -192,11 +206,13 @@ Namespace: /parent_ns/local_ns | dwb_plugin_name_.name.theta_scale | 10.0 | | ### twirling TrajectoryCritic + | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.name.scale | 0.0 | | ### simple_goal_checker plugin + | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.xy_goal_tolerance | 0.25 | | @@ -204,6 +220,7 @@ Namespace: /parent_ns/local_ns | dwb_plugin_name_.stateful | true | | ### standard_traj_generator plugin + | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.sim_time | 1.7 | | @@ -214,23 +231,27 @@ Namespace: /parent_ns/local_ns | dwb_plugin_name_.include_last_point | true | | ### limited_accel_generator plugin + | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.sim_time | N/A | | ### stopped_goal_checker plugin + | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.rot_stopped_velocity | 0.25 | | | dwb_plugin_name_.trans_stopped_velocity | 0.25 | | # lifecycle_manager + | Parameter | Default | Description | | ----------| --------| ------------| | node_names | N/A | | | autostart | false | | # map_saver + | Parameter | Default | Description | | ----------| --------| ------------| | save_map_timeout | 2000 | | @@ -238,6 +259,7 @@ Namespace: /parent_ns/local_ns | occupied_thresh_default | 0.65 | | # map_server + | Parameter | Default | Description | | ----------| --------| ------------| | yaml_filename | N/A | | @@ -245,12 +267,14 @@ Namespace: /parent_ns/local_ns | frame_id | "map" | | # planner_server + | Parameter | Default | Description | | ----------| --------| ------------| | planner_plugin_ids | "GridBased" | | | planner_plugin_types | "nav2_navfn_planner/NavfnPlanner" | | # navfn_planner + | Parameter | Default | Description | | ----------| --------| ------------| | name.tolerance | 0.5 | | @@ -258,6 +282,7 @@ Namespace: /parent_ns/local_ns | name.allow_unknown | true | | # waypoint_follower + | Parameter | Default | Description | | ----------| --------| ------------| | stop_on_failure | true | | @@ -265,6 +290,7 @@ Namespace: /parent_ns/local_ns # recovers ## recovery_server + | Parameter | Default | Description | | ----------| --------| ------------| | costmap_topic | "local_costmap/costmap_raw" | | @@ -274,9 +300,10 @@ Namespace: /parent_ns/local_ns | global_frame | "odom" | | | robot_base_frame | "base_link" | | | plugin_names | {"spin", "back_up", "wait"}| | -| plugin_types | {""nav2_recoveries/Spin"", ""nav2_recoveries/BackUp"", ""nav2_recoveries/Wait""} | | +| plugin_types | {"nav2_recoveries/Spin", "nav2_recoveries/BackUp", "nav2_recoveries/Wait"} | | ## spin plugin + | Parameter | Default | Description | | ----------| --------| ------------| | simulate_ahead_time | 2.0 | | @@ -285,6 +312,53 @@ Namespace: /parent_ns/local_ns | rotational_acc_lim | 3.2 | | ## back_up plugin + +| Parameter | Default | Description | +| ----------| --------| ------------| +| simulate_ahead_time | 2.0 | | + +# AMCL + | Parameter | Default | Description | | ----------| --------| ------------| -| simulate_ahead_time | 2.0 | | \ No newline at end of file +| alpha1 | 0.2 | | +| alpha2 | 0.2 | | +| alpha3 | 0.2 | | +| alpha4 | 0.2 | | +| alpha5 | 0.2 | | +| base_frame_id | "base_footprint" | | +| beam_skip_distance | 0.5 | | +| beam_skip_error_threshold | 0.9 | +| beam_skip_threshold | 0.3 | | +| do_beamskip | false| | +| global_frame_id | "map" | The name of the coordinate frame published by the localization system | +| lambda_short | 0.1 | Exponential decay parameter for z_short part of model | +| laser_likelihood_max_dist | 2.0 | Maximum distance to do obstacle inflation on map, for use in likelihood_field model | +| laser_max_range | 100.0 | Maximum scan range to be considered, -1.0 will cause the laser's reported maximum range to be used | +| laser_min_range | -1 | Minimum scan range to be considered, -1.0 will cause the laser's reported minimum range to be used | +| laser_model_type | "likelihood_field" | Which model to use, either beam, likelihood_field, or likelihood_field_prob. Same as likelihood_field but incorporates the beamskip feature, if enabled | +| set_initial_pose | false | Causes AMCL to set initial pose from the initial_pose* parameters instead of waiting for the initial_pose message | +| initial_pose.x | 0.0 | X coordinate of the initial robot pose in the map frame | +| initial_pose.y | 0.0 | Y coordinate of the initial robot pose in the map frame | +| initial_pose.z | 0.0 | Z coordinate of the initial robot pose in the map frame | +| initial_pose.yaw | 0.0 | Yaw of the initial robot pose in the map frame | +| max_beams | 60 | How many evenly-spaced beams in each scan to be used when updating the filter | +| max_particles | 2000 | Maximum allowed number of particles | +| min_particles | 500 | Minimum allowed number of particles | +| odom_frame_id | "odom" | Which frame to use for odometry | +| pf_err | 0.05 | | +| pf_z | 0.99 | | +| recovery_alpha_fast | 0.0 | Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. A good value might be 0.001| +| resample_interval | 1 | Number of filter updates required before resampling | +| robot_model_type | "differential" | | +| save_pose_rate | 0.5 | Maximum rate (Hz) at which to store the last estimated pose and covariance to the parameter server, in the variables ~initial_pose_* and ~initial_cov_*. This saved pose will be used on subsequent runs to initialize the filter (-1.0 to disable) | +| sigma_hit | 0.2 | | +| tf_broadcast | true | Set this to false to prevent amcl from publishing the transform between the global frame and the odometry frame | +| transform_tolerance | 1.0 | Time with which to post-date the transform that is published, to indicate that this transform is valid into the future | +| update_min_a | 0.2 | Rotational movement required before performing a filter update | +| update_min_d | 0.25 | Translational movement required before performing a filter update | +| z_hit | 0.5 | | +| z_max | 0.05 | | +| z_rand | 0.5 | | +| z_short | 0.05 | | +| always_reset_initial_pose | false | Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the last known pose to initialize | \ No newline at end of file From 660427db0fcc8418aa03313f6618feacbb9c7e7c Mon Sep 17 00:00:00 2001 From: Marwan Taher Date: Sat, 23 May 2020 08:00:28 +0100 Subject: [PATCH 3/7] Added some missing params --- doc/parameters/param_list.md | 103 +++++++++++++++++++++++++++-------- 1 file changed, 81 insertions(+), 22 deletions(-) diff --git a/doc/parameters/param_list.md b/doc/parameters/param_list.md index 98ed98a61a..e97c6cbe37 100644 --- a/doc/parameters/param_list.md +++ b/doc/parameters/param_list.md @@ -4,12 +4,11 @@ | Parameter | Default | Description | | ----------| --------| ------------| | bt_xml_filename | N/A | | -| plugin_lib_names (has opts) | N/A | | +| plugin_lib_names | ["nav2_compute_path_to_pose_action_bt_node", "nav2_follow_path_action_bt_node", "nav2_back_up_action_bt_node", "nav2_spin_action_bt_node", "nav2_wait_action_bt_node", "nav2_clear_costmap_service_bt_node", "nav2_is_stuck_condition_bt_node", "nav2_goal_reached_condition_bt_node", "nav2_initial_pose_received_condition_bt_node", "nav2_goal_updated_condition_bt_node", "nav2_reinitialize_global_localization_service_bt_node", "nav2_rate_controller_bt_node", "nav2_distance_controller_bt_node", "nav2_recovery_node_bt_node", "nav2_pipeline_sequence_bt_node", "nav2_round_robin_node_bt_node", "nav2_transform_available_condition_bt_node"] | | | transform_tolerance | 0.1 | | | global_frame | "map" | | | robot_base_frame | "base_link" | | - ## controller_server | Parameter | Default | Description | @@ -85,23 +84,24 @@ Namespace: /parent_ns/local_ns | obstacle_layer.footprint_clearing_enabled | true | | | obstacle_layer.max_obstacle_height | 2.0 | | | obstacle_layer.combination_method | 1 | | -| obstacle_layer.observation_sources | "" | [data source topic](#source-anchor) | -| [source](#source-anchor).topic | "" | | -| [source](#source-anchor).sensor_frame | "" | | -| [source](#source-anchor).observation_persistence | 0.0 | | -| [source](#source-anchor).expected_update_rate | 0.0 | | -| [source](#source-anchor).data_type | "LaserScan" | | -| [source](#source-anchor).min_obstacle_height | 0.0 | | -| [source](#source-anchor).max_obstacle_height | 0.0 | | -| [source](#source-anchor).inf_is_valid | false | | -| [source](#source-anchor).marking | true | | -| [source](#source-anchor).clearing | false | | -| [source](#source-anchor).obstacle_range | 2.5 | | -| [source](#source-anchor).raytrace_range | 3.0 | | +| obstacle_layer.observation_sources | "" | data source topic | +| source.topic | "" | | +| source.sensor_frame | "" | | +| source.observation_persistence | 0.0 | | +| source.expected_update_rate | 0.0 | | +| source.data_type | "LaserScan" | | +| source.min_obstacle_height | 0.0 | | +| source.max_obstacle_height | 0.0 | | +| source.inf_is_valid | false | | +| source.marking | true | | +| source.clearing | false | | +| source.obstacle_range | 2.5 | | +| source.raytrace_range | 3.0 | | ### voxel_layer plugin *Note*: These parameters will only get declared if `"voxel_layer"` is appended to `plugin_names` parameter and `"nav2_costmap_2d::VoxelLayer"` is appended to `plugin_types` parameter. + | Parameter | Default | Description | | ----------| --------| ------------| | voxel_layer.enabled | true | | @@ -114,6 +114,19 @@ Namespace: /parent_ns/local_ns | voxel_layer.mark_threshold | 0 | | | voxel_layer.combination_method | 1 | | | voxel_layer.publish_voxel_map | false | | +| voxel_layer.observation_sources | "" | data source topic | +| source.topic | "" | | +| source.sensor_frame | "" | | +| source.observation_persistence | 0.0 | | +| source.expected_update_rate | 0.0 | | +| source.data_type | "LaserScan" | | +| source.min_obstacle_height | 0.0 | | +| source.max_obstacle_height | 0.0 | | +| source.inf_is_valid | false | | +| source.marking | true | | +| source.clearing | false | | +| source.obstacle_range | 2.5 | | +| source.raytrace_range | 3.0 | | # dwb_controller @@ -151,17 +164,15 @@ Namespace: /parent_ns/local_ns | dwb_plugin_name_.publish_cost_grid_pc | false | | | dwb_plugin_name_.marker_lifetime | 0.1 | | -### map_grid - -| Parameter | Default | Description | -| ----------| --------| ------------| -| dwb_plugin_name_.name.aggregation_type | "last" | | - ### oscillation | Parameter | Default | Description | | ----------| --------| ------------| +| dwb_plugin_name_.name.oscillation_reset_dist | 0.05 | | +| dwb_plugin_name_.name.oscillation_reset_angle | 0.2 | | +| dwb_plugin_name_.name.oscillation_reset_time | -1 | | | dwb_plugin_name_.name.x_only_threshold | 0.05 | | +| dwb_plugin_name_.name.scale | 1.0 | | ### kinematic_parameters @@ -195,6 +206,14 @@ Namespace: /parent_ns/local_ns | Parameter | Default | Description | | ----------| --------| ------------| | dwb_plugin_name_.name.sum_scores | false | | +| dwb_plugin_name_.name.scale | 1.0 | | + +### obstacle_footprint TrajectoryCritic + +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.name.sum_scores | false | | +| dwb_plugin_name_.name.scale | 1.0 | | ### prefer_forward TrajectoryCritic @@ -204,6 +223,7 @@ Namespace: /parent_ns/local_ns | dwb_plugin_name_.name.strafe_x | 0.1 | | | dwb_plugin_name_.name.strafe_theta | 0.2 | | | dwb_plugin_name_.name.theta_scale | 10.0 | | +| dwb_plugin_name_.name.scale | 1.0 | | ### twirling TrajectoryCritic @@ -211,6 +231,44 @@ Namespace: /parent_ns/local_ns | ----------| --------| ------------| | dwb_plugin_name_.name.scale | 0.0 | | +### goal_align TrajectoryCritic + +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.name.forward_point_distance | 0.325 | | +| dwb_plugin_name_.name.scale | 1.0 | | + +### map_grid TrajectoryCritic + +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.name.aggregation_type | "last" | | +| dwb_plugin_name_.name.scale | 1.0 | | + +### path_dist TrajectoryCritic + +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.name.aggregation_type | "last" | | +| dwb_plugin_name_.name.scale | 1.0 | | + +### path_align TrajectoryCritic + +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.name.forward_point_distance | 0.325 | | +| dwb_plugin_name_.name.scale | 1.0 | | + +### rotate_to_goal TrajectoryCritic + +| Parameter | Default | Description | +| ----------| --------| ------------| +| dwb_plugin_name_.xy_goal_tolerance | 0.25 | | +| dwb_plugin_name_.trans_stopped_velocity | 0.25 | | +| dwb_plugin_name_.slowing_factor | 5.0 | | +| dwb_plugin_name_.lookahead_time | -1 | | +| dwb_plugin_name_.name.scale | 1.0 | | + ### simple_goal_checker plugin | Parameter | Default | Description | @@ -289,6 +347,7 @@ Namespace: /parent_ns/local_ns | loop_rate | 20 | | # recovers + ## recovery_server | Parameter | Default | Description | @@ -361,4 +420,4 @@ Namespace: /parent_ns/local_ns | z_max | 0.05 | | | z_rand | 0.5 | | | z_short | 0.05 | | -| always_reset_initial_pose | false | Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the last known pose to initialize | \ No newline at end of file +| always_reset_initial_pose | false | Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the last known pose to initialize | --!> \ No newline at end of file From 1e07175c1b8ac9efdcb90be65be2fd81db721a06 Mon Sep 17 00:00:00 2001 From: Marwan Taher Date: Wed, 27 May 2020 17:18:06 +0100 Subject: [PATCH 4/7] Added bt nodes ports --- doc/parameters/param_list.md | 119 ++++++++++++++++++++++++++++++++++- 1 file changed, 118 insertions(+), 1 deletion(-) diff --git a/doc/parameters/param_list.md b/doc/parameters/param_list.md index e97c6cbe37..8312a1b138 100644 --- a/doc/parameters/param_list.md +++ b/doc/parameters/param_list.md @@ -420,4 +420,121 @@ Namespace: /parent_ns/local_ns | z_max | 0.05 | | | z_rand | 0.5 | | | z_short | 0.05 | | -| always_reset_initial_pose | false | Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the last known pose to initialize | --!> \ No newline at end of file +| always_reset_initial_pose | false | Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the last known pose to initialize | --!> + +--- + +# Behavior Tree Nodes + +## Actions + +### BT Node BackUp + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| backup_dist | -0.15 | Distance to backup | +| backup_speed | 0.025 | Speed at which to backup | +| server_name | N/A | Action server name | +| server_timeout | 10 | (milliseconds) | + +### BT Node ClearEntireCostmap + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| service_name | N/A | Server name | +| server_timeout | 10 | (milliseconds) | + +### BT Node ComputePathToPose + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| goal | N/A | Destination to plan to | +| planner_id | N/A | | +| server_name | N/A | Action server name | +| server_timeout | 10 | (milliseconds) | + +| Output Port | Default | Description | +| ----------- | ------- | ----------- | +| path | N/A | Path created by ComputePathToPose node | + +### BT Node FollowPath + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| path | N/A | Path to follow | +| controller_id | N/A | | +| server_name | N/A | Action server name | +| server_timeout | 10 | (milliseconds) | + +### BT Node NavigateToPose + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| position | N/A | Position | +| orientation | N/A | Orientation | +| server_name | N/A | Action server name | +| server_timeout | 10 | (milliseconds) | + +### BT Node ReinitializeGlobalLocalization + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| service_name | N/A | Server name | +| server_timeout | 10 | (milliseconds) | + +### BT Node Spin + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| spin_dist | 1.57 | Spin distance | +| server_name | N/A | Action server name | +| server_timeout | 10 | (milliseconds) | + +### BT Node Wait + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| wait_duration | 1 | Wait time | +| server_name | N/A | Action server name | +| server_timeout | 10 | (milliseconds) | + +## Conditions + +### BT Node GoalReached + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| goal | N/A | Destination | +| global_frame | "map" | Global frame | +| robot_base_frame | "base_link" | Robot base frame | + +### BT Node TransformAvailable (condition) + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| child | "" | Child frame for transform | +| parent | "" | parent frame for transform | + +## Controls + +### BT Node RecoveryNode + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| number_of_retries | 1 | Number of retries | + +## Decorators + +### BT Node DistanceController + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| distance | 1.0 | Distance | +| global_frame | "map" | Global frame | +| robot_base_frame | "base_link" | Robot base frame | + +### BT Node RateController + +| Input Port | Default | Description | +| ---------- | ------- | ----------- | +| hz | 10.0 | Rate | \ No newline at end of file From 7348dafb45651fa206b2bee6b97e9652de210298 Mon Sep 17 00:00:00 2001 From: Marwan Taher Date: Wed, 27 May 2020 17:21:24 +0100 Subject: [PATCH 5/7] fixed typo --- doc/parameters/param_list.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/parameters/param_list.md b/doc/parameters/param_list.md index 8312a1b138..923fe8bf07 100644 --- a/doc/parameters/param_list.md +++ b/doc/parameters/param_list.md @@ -420,7 +420,7 @@ Namespace: /parent_ns/local_ns | z_max | 0.05 | | | z_rand | 0.5 | | | z_short | 0.05 | | -| always_reset_initial_pose | false | Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the last known pose to initialize | --!> +| always_reset_initial_pose | false | Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the last known pose to initialize | --- From 041f917207d205ce907dd809f71eed597c131c69 Mon Sep 17 00:00:00 2001 From: Marwan Taher Date: Fri, 29 May 2020 01:43:14 +0100 Subject: [PATCH 6/7] Added <> to base names + some reformating --- doc/parameters/param_list.md | 335 +++++++++++++++++++---------------- 1 file changed, 184 insertions(+), 151 deletions(-) diff --git a/doc/parameters/param_list.md b/doc/parameters/param_list.md index 923fe8bf07..3f1f8b6520 100644 --- a/doc/parameters/param_list.md +++ b/doc/parameters/param_list.md @@ -1,3 +1,4 @@ +*NOTE: <> means plugin are namespaced by a name/id parameterization. The bracketed names may change due to your application configuration* # bt_navigator @@ -9,19 +10,6 @@ | global_frame | "map" | | | robot_base_frame | "base_link" | | -## controller_server - -| Parameter | Default | Description | -| ----------| --------| ------------| -| controller_frequency | 20.0 | | -| controller_plugin_ids | "FollowPath" | | -| controller_plugin_types | "dwb_core::DWBLocalPlanner" | | -| min_x_velocity_threshold | 0.0001 | | -| min_y_velocity_threshold | 0.0001 | | -| min_theta_velocity_threshold | 0.0001 | | -| required_movement_radius | 0.5 | | -| movement_time_allowance | 10.0 | | - # costmaps ## Node: costmap_2d_ros @@ -58,248 +46,293 @@ Namespace: /parent_ns/local_ns ### static_layer plugin +* ``: Name corresponding to the `nav2_costmap_2d::StaticLayer` plugin. This name gets defined in `plugin_names`, default value is `static_layer` + | Parameter | Default | Description | | ----------| --------| ------------| -| static_layer.enabled | true | | -| static_layer.subscribe_to_updates | false | | -| static_layer.subscribe_to_updates | false | | -| static_layer.map_subscribe_transient_local | true | | -| static_layer.transform_tolerance | 0.0 | | +| ``.enabled | true | | +| ``.subscribe_to_updates | false | | +| ``.subscribe_to_updates | false | | +| ``.map_subscribe_transient_local | true | | +| ``.transform_tolerance | 0.0 | | ### inflation_layer plugin +* ``: Name corresponding to the `nav2_costmap_2d::InflationLayer` plugin. This name gets defined in `plugin_names`, default value is `inflation_layer` + | Parameter | Default | Description | | ----------| --------| ------------| -| inflation_layer.enabled | true | | -| inflation_layer.inflation_radius | 0.55 | | -| inflation_layer.cost_scaling_factor | 10.0 | | -| inflation_layer.inflate_unknown | false | | -| inflation_layer.inflate_around_unknown | false | | +| ``.enabled | true | | +| ``.inflation_radius | 0.55 | | +| ``.cost_scaling_factor | 10.0 | | +| ``.inflate_unknown | false | | +| ``.inflate_around_unknown | false | | ### obstacle_layer plugin -| Parameter | Default | Description | -| ----------| --------| ------------| -| obstacle_layer.enabled | true | | -| obstacle_layer.footprint_clearing_enabled | true | | -| obstacle_layer.max_obstacle_height | 2.0 | | -| obstacle_layer.combination_method | 1 | | -| obstacle_layer.observation_sources | "" | data source topic | -| source.topic | "" | | -| source.sensor_frame | "" | | -| source.observation_persistence | 0.0 | | -| source.expected_update_rate | 0.0 | | -| source.data_type | "LaserScan" | | -| source.min_obstacle_height | 0.0 | | -| source.max_obstacle_height | 0.0 | | -| source.inf_is_valid | false | | -| source.marking | true | | -| source.clearing | false | | -| source.obstacle_range | 2.5 | | -| source.raytrace_range | 3.0 | | +* ``: Name corresponding to the `nav2_costmap_2d::ObstacleLayer` plugin. This name gets defined in `plugin_names`, default value is `obstacle_layer` +* ``: Name of a source provided in ```.observation_sources` + +| Parameter | Default | Description | +| ----------| --------| ------------| +| ``.enabled | true | | +| ``.footprint_clearing_enabled | true | | +| ``.max_obstacle_height | 2.0 | | +| ``.combination_method | 1 | | +| ``.observation_sources | "" | data source topic | +| ``.topic | "" | | +| ``.sensor_frame | "" | | +| ``.observation_persistence | 0.0 | | +| ``.expected_update_rate | 0.0 | | +| ``.data_type | "LaserScan" | | +| ``.min_obstacle_height | 0.0 | | +| ``.max_obstacle_height | 0.0 | | +| ``.inf_is_valid | false | | +| ``.marking | true | | +| ``.clearing | false | | +| ``.obstacle_range | 2.5 | | +| ``.raytrace_range | 3.0 | | ### voxel_layer plugin -*Note*: These parameters will only get declared if `"voxel_layer"` is appended to `plugin_names` parameter and `"nav2_costmap_2d::VoxelLayer"` is appended to `plugin_types` parameter. - -| Parameter | Default | Description | -| ----------| --------| ------------| -| voxel_layer.enabled | true | | -| voxel_layer.footprint_clearing_enabled | true | | -| voxel_layer.max_obstacle_height | 2.0 | | -| voxel_layer.z_voxels | 10 | | -| voxel_layer.origin_z | 0.0 | | -| voxel_layer.z_resolution | 0.2 | | -| voxel_layer.unknown_threshold | 15 | | -| voxel_layer.mark_threshold | 0 | | -| voxel_layer.combination_method | 1 | | -| voxel_layer.publish_voxel_map | false | | -| voxel_layer.observation_sources | "" | data source topic | -| source.topic | "" | | -| source.sensor_frame | "" | | -| source.observation_persistence | 0.0 | | -| source.expected_update_rate | 0.0 | | -| source.data_type | "LaserScan" | | -| source.min_obstacle_height | 0.0 | | -| source.max_obstacle_height | 0.0 | | -| source.inf_is_valid | false | | -| source.marking | true | | -| source.clearing | false | | -| source.obstacle_range | 2.5 | | -| source.raytrace_range | 3.0 | | +* ``: Name corresponding to the `nav2_costmap_2d::VoxelLayer` plugin. This name gets defined in `plugin_names` +* ``: Name of a source provided in ``.observation_sources` + +*Note*: These parameters will only get declared if a `` name such as `voxel_layer` is appended to `plugin_names` parameter and `"nav2_costmap_2d::VoxelLayer"` is appended to `plugin_types` parameter. + +| Parameter | Default | Description | +| ----------| --------| ------------| +| ``.enabled | true | | +| ``.footprint_clearing_enabled | true | | +| ``.max_obstacle_height | 2.0 | | +| ``.z_voxels | 10 | | +| ``.origin_z | 0.0 | | +| ``.z_resolution | 0.2 | | +| ``.unknown_threshold | 15 | | +| ``.mark_threshold | 0 | | +| ``.combination_method | 1 | | +| ``.publish_voxel_map | false | | +| ``.observation_sources | "" | data source topic | +| ``.topic | "" | | +| ``.sensor_frame | "" | | +| ``.observation_persistence | 0.0 | | +| ``.expected_update_rate | 0.0 | | +| ``.data_type | "LaserScan" | | +| ``.min_obstacle_height | 0.0 | | +| ``.max_obstacle_height | 0.0 | | +| ``.inf_is_valid | false | | +| ``.marking | true | | +| ``.clearing | false | | +| ``.obstacle_range | 2.5 | | +| ``.raytrace_range | 3.0 | | + +## controller_server + +| Parameter | Default | Description | +| ----------| --------| ------------| +| controller_frequency | 20.0 | | +| controller_plugin_ids | "FollowPath" | | +| controller_plugin_types | "dwb_core::DWBLocalPlanner" | | +| min_x_velocity_threshold | 0.0001 | | +| min_y_velocity_threshold | 0.0001 | | +| min_theta_velocity_threshold | 0.0001 | | +| required_movement_radius | 0.5 | | +| movement_time_allowance | 10.0 | | # dwb_controller +* ``: DWB plugin name defined in `controller_plugin_ids` in the controller_server parameters + ### dwb_local_planner | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.critics | | | -| dwb_plugin_name_.prune_plan | true | | -| dwb_plugin_name_.prune_distance | 1.0 | | -| dwb_plugin_name_.debug_trajectory_details | false | | -| dwb_plugin_name_.trajectory_generator_name | "dwb_plugins::StandardTrajectoryGenerator" | | -| dwb_plugin_name_.goal_checker_name | "dwb_plugins::SimpleGoalChecker" | | -| dwb_plugin_name_.transform_tolerance | 0.1 | | -| dwb_plugin_name_.short_circuit_trajectory_evaluation | true | | -| dwb_plugin_name_.path_distance_bias | N/A | | -| dwb_plugin_name_.goal_distance_bias | | | -| dwb_plugin_name_.occdist_scale | | | -| dwb_plugin_name_.max_scaling_factor | | | -| dwb_plugin_name_.scaling_speed | | | -| dwb_plugin_name_.PathAlign.scale | | | -| dwb_plugin_name_.GoalAlign.scale | | | -| dwb_plugin_name_.PathDist.scale | | | -| dwb_plugin_name_.GoalDist.scale | | | +| ``.critics | | | +| ``.prune_plan | true | | +| ``.prune_distance | 1.0 | | +| ``.debug_trajectory_details | false | | +| ``.trajectory_generator_name | "dwb_plugins::StandardTrajectoryGenerator" | | +| ``.goal_checker_name | "dwb_plugins::SimpleGoalChecker" | | +| ``.transform_tolerance | 0.1 | | +| ``.short_circuit_trajectory_evaluation | true | | +| ``.path_distance_bias | N/A | | +| ``.goal_distance_bias | | | +| ``.occdist_scale | | | +| ``.max_scaling_factor | | | +| ``.scaling_speed | | | +| ``.PathAlign.scale | | | +| ``.GoalAlign.scale | | | +| ``.PathDist.scale | | | +| ``.GoalDist.scale | | | ### publisher | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.publish_evaluation |true | | -| dwb_plugin_name_.publish_global_plan | true | | -| dwb_plugin_name_.publish_transformed_plan | true | | -| dwb_plugin_name_.publish_local_plan | true | | -| dwb_plugin_name_.publish_trajectories | true | | -| dwb_plugin_name_.publish_cost_grid_pc | false | | -| dwb_plugin_name_.marker_lifetime | 0.1 | | +| ``.publish_evaluation |true | | +| ``.publish_global_plan | true | | +| ``.publish_transformed_plan | true | | +| ``.publish_local_plan | true | | +| ``.publish_trajectories | true | | +| ``.publish_cost_grid_pc | false | | +| ``.marker_lifetime | 0.1 | | -### oscillation +### oscillation TrajectoryCritic + +* ``: oscillation critic name defined in `.critics` | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.name.oscillation_reset_dist | 0.05 | | -| dwb_plugin_name_.name.oscillation_reset_angle | 0.2 | | -| dwb_plugin_name_.name.oscillation_reset_time | -1 | | -| dwb_plugin_name_.name.x_only_threshold | 0.05 | | -| dwb_plugin_name_.name.scale | 1.0 | | +| ``.``.oscillation_reset_dist | 0.05 | | +| ``.``.oscillation_reset_angle | 0.2 | | +| ``.``.oscillation_reset_time | -1 | | +| ``.``.x_only_threshold | 0.05 | | +| ``.``.scale | 1.0 | | ### kinematic_parameters | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.max_vel_theta | 0.0 | | -| dwb_plugin_name_.min_speed_xy | 0.0 | | -| dwb_plugin_name_.max_speed_xy | 0.0| | -| dwb_plugin_name_.min_speed_theta | 0.0 | | -| dwb_plugin_name_.min_vel_x | 0.0 | | -| dwb_plugin_name_.min_vel_y | 0.0 | | -| dwb_plugin_name_.max_vel_x | 0.0 | | -| dwb_plugin_name_.max_vel_theta | 0.0 | | -| dwb_plugin_name_.acc_lim_x | 0.0 | | -| dwb_plugin_name_.acc_lim_y | 0.0 | | -| dwb_plugin_name_.acc_lim_theta | 0.0 | | -| dwb_plugin_name_.decel_lim_x | 0.0 | | -| dwb_plugin_name_.decel_lim_y | 0.0 | | -| dwb_plugin_name_.decel_lim_theta | 0.0 | | +| ``.max_vel_theta | 0.0 | | +| ``.min_speed_xy | 0.0 | | +| ``.max_speed_xy | 0.0| | +| ``.min_speed_theta | 0.0 | | +| ``.min_vel_x | 0.0 | | +| ``.min_vel_y | 0.0 | | +| ``.max_vel_x | 0.0 | | +| ``.max_vel_theta | 0.0 | | +| ``.acc_lim_x | 0.0 | | +| ``.acc_lim_y | 0.0 | | +| ``.acc_lim_theta | 0.0 | | +| ``.decel_lim_x | 0.0 | | +| ``.decel_lim_y | 0.0 | | +| ``.decel_lim_theta | 0.0 | | ### xy_theta_iterator | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.vx_samples | 20 | | -| dwb_plugin_name_.vy_samples | 5 | | -| dwb_plugin_name_.vtheta_samples | 20| | +| ``.vx_samples | 20 | | +| ``.vy_samples | 5 | | +| ``.vtheta_samples | 20| | ### base_obstacle TrajectoryCritic +* ``: base_obstacle critic name defined in `.critics` + | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.name.sum_scores | false | | -| dwb_plugin_name_.name.scale | 1.0 | | +| ``.``.sum_scores | false | | +| ``.``.scale | 1.0 | | ### obstacle_footprint TrajectoryCritic +* ``: obstacle_footprint critic name defined in `.critics` + | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.name.sum_scores | false | | -| dwb_plugin_name_.name.scale | 1.0 | | +| ``.``.sum_scores | false | | +| ``.``.scale | 1.0 | | ### prefer_forward TrajectoryCritic +* ``: prefer_forward critic name defined in `.critics` + | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.name.penalty | 1.0 | | -| dwb_plugin_name_.name.strafe_x | 0.1 | | -| dwb_plugin_name_.name.strafe_theta | 0.2 | | -| dwb_plugin_name_.name.theta_scale | 10.0 | | -| dwb_plugin_name_.name.scale | 1.0 | | +| ``.``.penalty | 1.0 | | +| ``.``.strafe_x | 0.1 | | +| ``.``.strafe_theta | 0.2 | | +| ``.``.theta_scale | 10.0 | | +| ``.``.scale | 1.0 | | ### twirling TrajectoryCritic +* ``: twirling critic name defined in `.critics` + | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.name.scale | 0.0 | | +| ``.``.scale | 0.0 | | ### goal_align TrajectoryCritic +* ``: goal_align critic name defined in `.critics` + | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.name.forward_point_distance | 0.325 | | -| dwb_plugin_name_.name.scale | 1.0 | | +| ``.``.forward_point_distance | 0.325 | | +| ``.``.scale | 1.0 | | ### map_grid TrajectoryCritic +* ``: map_grid critic name defined in `.critics` + | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.name.aggregation_type | "last" | | -| dwb_plugin_name_.name.scale | 1.0 | | +| ``.``.aggregation_type | "last" | | +| ``.``.scale | 1.0 | | ### path_dist TrajectoryCritic +* ``: path_dist critic name defined in `.critics` + | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.name.aggregation_type | "last" | | -| dwb_plugin_name_.name.scale | 1.0 | | +| ``.``.aggregation_type | "last" | | +| ``.``.scale | 1.0 | | ### path_align TrajectoryCritic +* ``: path_align critic name defined in `.critics` + | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.name.forward_point_distance | 0.325 | | -| dwb_plugin_name_.name.scale | 1.0 | | +| ``.``.forward_point_distance | 0.325 | | +| ``.``.scale | 1.0 | | ### rotate_to_goal TrajectoryCritic +* ``: rotate_to_goal critic name defined in `.critics` + | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.xy_goal_tolerance | 0.25 | | -| dwb_plugin_name_.trans_stopped_velocity | 0.25 | | -| dwb_plugin_name_.slowing_factor | 5.0 | | -| dwb_plugin_name_.lookahead_time | -1 | | -| dwb_plugin_name_.name.scale | 1.0 | | +| ``.xy_goal_tolerance | 0.25 | | +| ``.trans_stopped_velocity | 0.25 | | +| ``.slowing_factor | 5.0 | | +| ``.lookahead_time | -1 | | +| ``.``.scale | 1.0 | | ### simple_goal_checker plugin | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.xy_goal_tolerance | 0.25 | | -| dwb_plugin_name_.yaw_goal_tolerance | 0.25 | | -| dwb_plugin_name_.stateful | true | | +| ``.xy_goal_tolerance | 0.25 | | +| ``.yaw_goal_tolerance | 0.25 | | +| ``.stateful | true | | ### standard_traj_generator plugin | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.sim_time | 1.7 | | -| dwb_plugin_name_.discretize_by_time | false | | -| dwb_plugin_name_.time_granularity | 0.5 | | -| dwb_plugin_name_.linear_granularity | 0.5 | | -| dwb_plugin_name_.angular_granularity | 0.025 | | -| dwb_plugin_name_.include_last_point | true | | +| ``.sim_time | 1.7 | | +| ``.discretize_by_time | false | | +| ``.time_granularity | 0.5 | | +| ``.linear_granularity | 0.5 | | +| ``.angular_granularity | 0.025 | | +| ``.include_last_point | true | | ### limited_accel_generator plugin | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.sim_time | N/A | | +| ``.sim_time | N/A | | ### stopped_goal_checker plugin | Parameter | Default | Description | | ----------| --------| ------------| -| dwb_plugin_name_.rot_stopped_velocity | 0.25 | | -| dwb_plugin_name_.trans_stopped_velocity | 0.25 | | +| ``.rot_stopped_velocity | 0.25 | | +| ``.trans_stopped_velocity | 0.25 | | # lifecycle_manager From 8982aafb6c0aff2394a188364ce69dce3d0e8011 Mon Sep 17 00:00:00 2001 From: Marwan Taher Date: Fri, 29 May 2020 19:00:32 +0100 Subject: [PATCH 7/7] added default_critic_namespaces param to dwb_local_planner --- doc/parameters/param_list.md | 1 + 1 file changed, 1 insertion(+) diff --git a/doc/parameters/param_list.md b/doc/parameters/param_list.md index 3f1f8b6520..9fb0204cbc 100644 --- a/doc/parameters/param_list.md +++ b/doc/parameters/param_list.md @@ -148,6 +148,7 @@ Namespace: /parent_ns/local_ns | Parameter | Default | Description | | ----------| --------| ------------| | ``.critics | | | +| ``.default_critic_namespaces | ["dwb_critics"] | | | ``.prune_plan | true | | | ``.prune_distance | 1.0 | | | ``.debug_trajectory_details | false | |