From: grpetry <gabriel.petry26@gmail.com>
Date: Thu, 21 Nov 2019 15:53:22 +0000 (-0300)
Subject: changed nav params
X-Git-Tag: petryTCC~1
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=f68224003c12d25367932ee3dbe165c7e5062b6e;p=twil.git

changed nav params
---

diff --git a/twil_2dnav/config/base_local_planner_params.yaml b/twil_2dnav/config/base_local_planner_params.yaml
index 87dbd70..b7d3e09 100644
--- a/twil_2dnav/config/base_local_planner_params.yaml
+++ b/twil_2dnav/config/base_local_planner_params.yaml
@@ -1,11 +1,16 @@
 TrajectoryPlannerROS:
-  max_vel_x: 1 #(vel angular max = 2*pi)
-  min_vel_x: 0.1 #zona morta - olhar dissertação thiago
-  max_vel_theta: 1.0 #2*(max_vel_x) / wheelbase
-  min_in_place_vel_theta: 0.4
+  max_vel_x: 0.47 #(vel angular max = 2*pi)
+  min_vel_x: 0.2 #zona morta - obtido por experimento
+  max_vel_theta: 2.92 #2*(max_vel_x) / wheelbase
+  min_vel_theta: -2.92
+  min_in_place_vel_theta: 1 #zona morta - obtido por experimento
+  escape_vel: -0.3 
 
-  acc_lim_theta: 3.2
-  acc_lim_x: 2.5
-  acc_lim_y: 2.5
+  acc_lim_theta: 79.5
+  acc_lim_x: 44.4
+  acc_lim_y: 0
 
   holonomic_robot: false
+
+controller_frequency: 4.0
+
diff --git a/twil_2dnav/config/costmap_common_params.yaml b/twil_2dnav/config/costmap_common_params.yaml
index acb62f4..c03805b 100644
--- a/twil_2dnav/config/costmap_common_params.yaml
+++ b/twil_2dnav/config/costmap_common_params.yaml
@@ -1,9 +1,14 @@
-obstacle_range: 2.5
-raytrace_range: 3.0
+obstacle_range: 2.5 # alcance da adição de obstáculos no costmap
+raytrace_range: 3.0 # 
+
+max_obstacle_height: 1,0
+min_obstacle_height: 0.05
+
 #footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
 robot_radius: 0.3 #wheelbase/2
 inflation_radius: 0.3
+cost_scaling_factor: 10
 
 observation_sources: point_cloud_sensor
 
-point_cloud_sensor: {sensor_frame: camera_link, data_type: PointCloud2, topic: /camera/depth/points, marking: true, clearing: true}
+point_cloud_sensor: {sensor_frame: camera_link, data_type: PointCloud2, topic: /camera/depth/points, marking: true, clearing: true} #marking = usar o sensor pra marcar obstáculos clearing = usar pra limpá-los
diff --git a/twil_2dnav/config/global_costmap_params.yaml b/twil_2dnav/config/global_costmap_params.yaml
index 43a268f..139b82e 100644
--- a/twil_2dnav/config/global_costmap_params.yaml
+++ b/twil_2dnav/config/global_costmap_params.yaml
@@ -1,5 +1,8 @@
 global_costmap:
   global_frame: map
   robot_base_frame: twil_origin
-  update_frequency: 1.0
+  update_frequency: 2.0
   static_map: true
+  resolution: 0.1
+  origin_x: -16.0
+  origin_y: -2.0
diff --git a/twil_bringup/rviz/gazebo_rviz.rviz b/twil_bringup/rviz/gazebo_rviz.rviz
index f9f21d9..1cd2991 100644
--- a/twil_bringup/rviz/gazebo_rviz.rviz
+++ b/twil_bringup/rviz/gazebo_rviz.rviz
@@ -9,7 +9,7 @@ Panels:
         - /Odometry1
         - /Map1
         - /Pose1
-        - /Pose2
+        - /Path1
       Splitter Ratio: 0.5
     Tree Height: 728
   - Class: rviz/Selection
@@ -282,11 +282,11 @@ Visualization Manager:
       Value: true
     - Alpha: 0.699999988079071
       Class: rviz/Map
-      Color Scheme: map
+      Color Scheme: costmap
       Draw Behind: false
       Enabled: true
       Name: Map
-      Topic: /map
+      Topic: /move_base/global_costmap/costmap
       Unreliable: false
       Use Timestamp: false
       Value: true
@@ -306,18 +306,26 @@ Visualization Manager:
       Unreliable: false
       Value: true
     - Alpha: 1
-      Axes Length: 1
-      Axes Radius: 0.10000000149011612
-      Class: rviz/Pose
-      Color: 25; 25; 255
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
       Enabled: true
-      Head Length: 0.30000001192092896
-      Head Radius: 0.10000000149011612
-      Name: Pose
-      Shaft Length: 1
-      Shaft Radius: 0.05000000074505806
-      Shape: Arrow
-      Topic: /move_base_simple/goal
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /move_base/TrajectoryPlannerROS/global_plan
       Unreliable: false
       Value: true
   Enabled: true
@@ -348,25 +356,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 7.041090965270996
+      Distance: 7.028791904449463
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 1.4153192043304443
-        Y: -0.09617653489112854
-        Z: 1.5786224603652954
+        X: 4.286587715148926
+        Y: 0.3864009976387024
+        Z: 2.368278741836548
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5997968912124634
+      Pitch: 0.9747968912124634
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 4.731765270233154
+      Yaw: 4.71176290512085
     Saved: ~
 Window Geometry:
   Displays: