From 3a5bfb1c788ec2e91eca145c49b962f1d39991c6 Mon Sep 17 00:00:00 2001
From: Matthew Hansen <matthew.k.hansen@intel.com>
Date: Thu, 6 Jun 2019 16:29:52 -0700
Subject: [PATCH] WIP - update nav2_params for system test
---
nav2_system_tests/params/nav2_params.yaml | 148 +++++++++++++++++++++-
1 file changed, 141 insertions(+), 7 deletions(-)
diff --git a/nav2_system_tests/params/nav2_params.yaml b/nav2_system_tests/params/nav2_params.yaml
index a2737a5d..e5d6203f 100644
--- a/nav2_system_tests/params/nav2_params.yaml
+++ b/nav2_system_tests/params/nav2_params.yaml
@@ -1,11 +1,61 @@
-map_server:
+amcl:
ros__parameters:
- yaml_filename: "test_map.yaml"
+ use_sim_time: True
+ 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"
+ lambda_short: 0.1
+ laser_likelihood_max_dist: 2.0
+ laser_max_range: 100.0
+ laser_min_range: -1.0
+ laser_model_type: "likelihood_field"
+ max_beams: 60
+ max_particles: 2000
+ min_particles: 500
+ odom_frame_id: "odom"
+ pf_err: 0.05
+ pf_z: 0.99
+ recovery_alpha_fast: 0.0
+ recovery_alpha_slow: 0.0
+ resample_interval: 1
+ robot_model_type: "differential"
+ save_pose_rate: 0.5
+ sigma_hit: 0.2
+ tf_broadcast: true
+ transform_tolerance: 1.0
+ update_min_a: 0.2
+ update_min_d: 0.25
+ z_hit: 0.5
+ z_max: 0.05
+ z_rand: 0.5
+ z_short: 0.05
+
+amcl_map_client:
+ ros__parameters:
+ use_sim_time: True
+
+amcl_rclcpp_node:
+ ros__parameters:
+ use_sim_time: True
+
+#bt_navigator:
+# ros__parameters:
+# use_sim_time: True
+# bt_xml_filename: "bt_navigator.xml"
dwb_controller:
ros__parameters:
+ use_sim_time: True
debug_trajectory_details: True
- min_vel_x: -0.26
+ min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 0.26
max_vel_y: 0.0
@@ -13,15 +63,26 @@ dwb_controller:
min_speed_xy: 0.0
max_speed_xy: 0.26
min_speed_theta: 0.0
+ min_x_velocity_threshold: 0.001
+ # Add high threshold velocity for turtlebot 3 issue.
+ # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
+ min_y_velocity_threshold: 0.5
+ min_theta_velocity_threshold: 0.001
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
- ObstacleFootprint.scale: 1.0
- ObstacleFootprint.max_scaling_factor: 0.2
- ObstacleFootprint.scaling_speed: 0.25
+ vx_samples: 20
+ vy_samples: 5
+ vtheta_samples: 20
+ sim_time: 1.7
+ linear_granularity: 0.05
+ xy_goal_tolerance: 0.25
+ # critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+ critics: ["RotateToGoal", "Oscillation", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+ BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
GoalAlign.scale: 24.0
PathDist.scale: 32.0
@@ -31,10 +92,83 @@ dwb_controller:
local_costmap:
local_costmap:
ros__parameters:
- robot_radius: 0.092
+ robot_radius: 0.17
+ inflation_layer.cost_scaling_factor: 3.0
+ obstacle_layer:
+ enabled: True
always_send_full_costmap: True
+ observation_sources: scan
+ scan:
+ topic: /scan
+ max_obstacle_height: 2.0
+ clearing: True
+ marking: True
+
+local_costmap:
+ local_costmap_client:
+ ros__parameters:
+ use_sim_time: True
+
+local_costmap:
+ local_costmap_rclcpp_node:
+ ros__parameters:
+ use_sim_time: True
global_costmap:
global_costmap:
ros__parameters:
+ robot_radius: 0.17
+ obstacle_layer:
+ enabled: True
always_send_full_costmap: True
+ observation_sources: scan
+ scan:
+ topic: /scan
+ max_obstacle_height: 2.0
+ clearing: True
+ marking: True
+
+global_costmap:
+ global_costmap_client:
+ ros__parameters:
+ use_sim_time: True
+
+global_costmap:
+ global_costmap_rclcpp_node:
+ ros__parameters:
+ use_sim_time: True
+
+#map_server:
+# ros__parameters:
+# use_sim_time: True
+# yaml_filename: "turtlebot3_world.yaml"
+
+#lifecycle_manager:
+# ros__parameters:
+# use_sim_time: True
+
+lifecycle_manager_service_client:
+ ros__parameters:
+ use_sim_time: True
+
+lifecycle_manager_client_service_client:
+ ros__parameters:
+ use_sim_time: True
+
+#navfn_planner:
+# ros__parameters:
+# use_sim_time: True
+# tolerance: 0.0
+# use_astar: false
+
+navfn_planner_GetCostmap_client:
+ ros__parameters:
+ use_sim_time: True
+
+#robot_state_publisher:
+# ros__parameters:
+# use_sim_time: True
+
+#world_model:
+# ros__parameters:
+# use_sim_time: True
--
GitLab