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added global navigation script, fixed namespace

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1 parent 8121241 commit 0c191f86e32928eb7e650374b6840d6a44e60fe5 @zakharov zakharov committed May 18, 2012
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51 youbot_navigation/youbot_navigation_common/config/base_local_planner_params.yaml
@@ -1,31 +1,32 @@
# Robot Configuration Parameters
-acc_lim_x: 1.25
-acc_lim_y: 1.25
-acc_lim_th: 1.6
-max_vel_x: 0.5
-min_vel_x: 0.1
-max_rotational_vel: 1.2
-min_in_place_rotational_vel: 0.1
-escape_vel: -0.1
-holonomic_robot: true
+TrajectoryPlannerROS:
+ acc_lim_x: 1.25
+ acc_lim_y: 1.25
+ acc_lim_th: 1.6
+ max_vel_x: 0.5
+ min_vel_x: 0.1
+ max_rotational_vel: 1.2
+ min_in_place_rotational_vel: 0.1
+ escape_vel: -0.1
+ holonomic_robot: true
-# Goal Tolerance Parameters
-xy_goal_tolerance: 0.1
-yaw_goal_tolerance: 0.1
+ # Goal Tolerance Parameters
+ xy_goal_tolerance: 0.1
+ yaw_goal_tolerance: 0.1
-# Forward Simulation Parameters
-sim_time: 1.7
-sim_granularity: 0.025
-vx_samples: 3
-vtheta_samples: 6
+ # Forward Simulation Parameters
+ sim_time: 1.7
+ sim_granularity: 0.025
+ vx_samples: 3
+ vtheta_samples: 6
-# Trajectory Scoring Parameters
-goal_distance_bias: 0.8
-path_distance_bias: 0.6
-occdist_scale: 0.01
-heading_lookahead: 0.325
-dwa: false
+ # Trajectory Scoring Parameters
+ goal_distance_bias: 0.8
+ path_distance_bias: 0.6
+ occdist_scale: 0.01
+ heading_lookahead: 0.325
+ dwa: false
-# Oscillation Prevention Parameters
-oscillation_reset_dist: 0.01
+ # Oscillation Prevention Parameters
+ oscillation_reset_dist: 0.01
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9 youbot_navigation/youbot_navigation_global/config/global_costmap_params.yaml
@@ -0,0 +1,9 @@
+#Independent settings for the planner's costmap
+global_costmap:
+ publish_voxel_map: true
+ global_frame: map
+ robot_base_frame: base_footprint
+ update_frequency: 5.0
+ publish_frequency: 0.0
+ static_map: true
+ rolling_window: false
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14 youbot_navigation/youbot_navigation_global/config/local_costmap_params.yaml
@@ -0,0 +1,14 @@
+#Independent settings for the local costmap
+local_costmap:
+ publish_voxel_map: true
+ global_frame: odom
+ robot_base_frame: base_footprint
+ update_frequency: 5.0
+ publish_frequency: 2.0
+ static_map: false
+ rolling_window: true
+ width: 10.0
+ height: 10.0
+ resolution: 0.05
+ origin_x: 0.0
+ origin_y: 0.0
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129 youbot_navigation/youbot_navigation_global/config/local_navigation_rviz.vcg
@@ -0,0 +1,129 @@
+Background\ ColorR=0
+Background\ ColorG=0
+Background\ ColorB=0
+Fixed\ Frame=/odom
+Target\ Frame=<Fixed Frame>
+Global\ path.Alpha=1
+Global\ path.ColorR=0.1
+Global\ path.ColorG=1
+Global\ path.ColorB=0
+Global\ path.Enabled=1
+Global\ path.Topic=/move_base_node/TrajectoryPlannerROS/global_plan
+Goal.Alpha=1
+Goal.ColorR=1
+Goal.ColorG=0.1
+Goal.ColorB=0
+Goal.Enabled=1
+Goal.Head\ Length=0.3
+Goal.Head\ Radius=0.2
+Goal.Shaft\ Length=1
+Goal.Shaft\ Radius=0.1
+Goal.Shape=0
+Goal.Topic=/move_base_node/current_goal
+Grid.Alpha=0.5
+Grid.Cell\ Size=1
+Grid.ColorR=0.5
+Grid.ColorG=0.5
+Grid.ColorB=0.5
+Grid.Enabled=1
+Grid.Line\ Style=0
+Grid.Line\ Width=0.03
+Grid.Normal\ Cell\ Count=0
+Grid.OffsetX=0
+Grid.OffsetY=0
+Grid.OffsetZ=0
+Grid.Plane=0
+Grid.Plane\ Cell\ Count=10
+Grid.Reference\ Frame=<Fixed Frame>
+Local\ cost\ map\ with\ inflation.Alpha=1
+Local\ cost\ map\ with\ inflation.ColorR=0
+Local\ cost\ map\ with\ inflation.ColorG=0.384314
+Local\ cost\ map\ with\ inflation.ColorB=1
+Local\ cost\ map\ with\ inflation.Enabled=1
+Local\ cost\ map\ with\ inflation.Topic=/move_base_node/local_costmap/inflated_obstacles
+Local\ cost\ map.Alpha=1
+Local\ cost\ map.ColorR=0.1
+Local\ cost\ map.ColorG=1
+Local\ cost\ map.ColorB=0
+Local\ cost\ map.Enabled=1
+Local\ cost\ map.Topic=/move_base_node/local_costmap/obstacles
+Local\ path.Alpha=1
+Local\ path.ColorR=1
+Local\ path.ColorG=0
+Local\ path.ColorB=0.0588235
+Local\ path.Enabled=1
+Local\ path.Topic=/move_base_node/TrajectoryPlannerROS/local_plan
+Robot\ Model.Alpha=1
+Robot\ Model.Collision\ Enabled=0
+Robot\ Model.Enabled=1
+Robot\ Model.Robot\ Description=robot_description
+Robot\ Model.TF\ Prefix=
+Robot\ Model.Update\ Interval=0
+Robot\ Model.Visual\ Enabled=1
+Robot\:\ Robot\ Model\ Link\ arm_link_0Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ arm_link_0Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ arm_link_1Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ arm_link_1Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ arm_link_2Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ arm_link_2Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ arm_link_3Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ arm_link_3Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ arm_link_4Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ arm_link_4Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ arm_link_5Show\ Axes=0
+Robot\:\ Robot\ Model\ Link\ arm_link_5Show\ Trail=0
+Robot\:\ Robot\ Model\ Link\ base_footprintShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ base_footprintShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ base_laser_front_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ base_laser_front_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ base_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ base_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ gripper_finger_link_lShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ gripper_finger_link_lShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ gripper_finger_link_rShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ gripper_finger_link_rShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ gripper_palm_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ gripper_palm_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ plate_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ plate_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ wheel_link_blShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ wheel_link_blShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ wheel_link_brShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ wheel_link_brShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ wheel_link_flShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ wheel_link_flShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ wheel_link_frShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ wheel_link_frShow\ Trail=0
+Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal
+Tool\ 2D\ Pose\ EstimateTopic=initialpose
+Camera\ Type=rviz::OrbitViewController
+Camera\ Config=0.400058 3.45437 20.156 0.151376 -0.224899 -2.19654
+Property\ Grid\ State=selection=Local path.Enabled.Local path.Color;expanded=.Global Options,Robot Model.Enabled,Goal.Enabled.Goal.Shape Properties,Local cost map.Enabled,Local cost map with inflation.Enabled,Global path.Enabled,Local path.Enabled;scrollpos=0,0;splitterpos=200,400;ispageselected=1
+[Display0]
+Name=Robot Model
+Package=rviz
+ClassName=rviz::RobotModelDisplay
+[Display1]
+Name=Grid
+Package=rviz
+ClassName=rviz::GridDisplay
+[Display2]
+Name=Goal
+Package=rviz
+ClassName=rviz::PoseDisplay
+[Display3]
+Name=Local cost map
+Package=rviz
+ClassName=rviz::GridCellsDisplay
+[Display4]
+Name=Local cost map with inflation
+Package=rviz
+ClassName=rviz::GridCellsDisplay
+[Display5]
+Name=Global path
+Package=rviz
+ClassName=rviz::PathDisplay
+[Display6]
+Name=Local path
+Package=rviz
+ClassName=rviz::PathDisplay
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1 youbot_navigation/youbot_navigation_global/config/move_base_params.yaml
@@ -0,0 +1 @@
+shutdown_costmaps: true
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4 youbot_navigation/youbot_navigation_global/launch/amcl.launch
@@ -1,7 +1,7 @@
<launch>
<!-- Run map server -->
- <node name="map_server" pkg="map_server" type="map_server" args="$(find youbot_navigation_global)/map/hanoi_map.yaml"/>
+<!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find youbot_navigation_global)/map/hanoi_map.yaml"/>-->
<!--
@@ -40,7 +40,7 @@
<node pkg="amcl" type="amcl" name="amcl">
- <remap from="scan" to="base_scan"/>-->
+ <remap from="scan" to="base_scan"/>
<param name="odom_model_type" value="omni"/>
<param name="odom_alpha5" value="0.1"/>
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27 youbot_navigation/youbot_navigation_global/launch/move_base_global.launch
@@ -0,0 +1,27 @@
+<launch>
+ <!-- Throttle the voxel grid that is being published for rviz -->
+ <!-- <node ns="move_base_node/local_costmap" name="voxel_grid_throttle" pkg="topic_tools" type="throttle" args="messages voxel_grid 3.0 voxel_grid_throttled" /> -->
+
+ <param name="T" type="double" value="0.2"/>
+ <param name="dt" type="double" value="0.1"/>
+ <node pkg="youbot_navigation_common" type="lowpass_filter" respawn="false" name="lowpass_filter" output="screen">
+
+ </node>
+
+
+ <!-- for moving -->
+ <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
+ <!-- Load common configuration files -->
+ <remap from="cmd_vel" to="move_base/cmd_vel"/>
+ <rosparam file="$(find youbot_navigation_common)/config/move_base_params.yaml" command="load" />
+ <rosparam file="$(find youbot_navigation_common)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+ <rosparam file="$(find youbot_navigation_common)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
+ <!--<rosparam file="$(find youbot_navigation)/navigation_common/base_local_planner_params.yaml" command="load" ns="TrajectoryPlannerROS" />-->
+
+ <!-- Load global navigation specific parameters -->
+ <!--<rosparam file="$(find youbot_navigation)/navigation_local/config/move_base_params.yaml" command="load" />-->
+ <rosparam file="$(find youbot_navigation_global)/config/local_costmap_params.yaml" command="load" />
+ <rosparam file="$(find youbot_navigation_global)/config/global_costmap_params.yaml" command="load" />
+ <rosparam file="$(find youbot_navigation_common)/config/base_local_planner_params.yaml" command="load" />
+ </node>
+</launch>

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