From 8cac5effd647e467eea23dbea5f0cd1fb90038cf Mon Sep 17 00:00:00 2001 From: grpetry Date: Thu, 28 Nov 2019 22:26:16 -0300 Subject: [PATCH] Added Gazebo world and fixed point cloud coordinates --- twil_2dnav/config/base_local_planner_params.yaml | 15 +- twil_2dnav/config/costmap_common_params.yaml | 8 +- twil_2dnav/config/global_costmap_params.yaml | 8 +- twil_2dnav/config/local_costmap_params.yaml | 4 +- twil_2dnav/launch/move_base.launch | 5 +- twil_bringup/launch/gazebo_rviz.launch | 8 +- twil_bringup/rviz/gazebo_rviz.rviz | 18 +- twil_description/launch/gazebo.launch | 3 +- twil_description/world/centenario.world | 2915 ++++++++++++++++++++++ twil_description/world/model.config | 11 + twil_description/world/model.sdf | 1663 ++++++++++++ twil_description/xacro/twil.urdf.xacro | 10 +- 12 files changed, 4632 insertions(+), 36 deletions(-) create mode 100644 twil_description/world/centenario.world create mode 100644 twil_description/world/model.config create mode 100644 twil_description/world/model.sdf diff --git a/twil_2dnav/config/base_local_planner_params.yaml b/twil_2dnav/config/base_local_planner_params.yaml index b7d3e09..a8b69a0 100644 --- a/twil_2dnav/config/base_local_planner_params.yaml +++ b/twil_2dnav/config/base_local_planner_params.yaml @@ -1,16 +1,19 @@ TrajectoryPlannerROS: - 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 + max_vel_x: 0.6 #(vel angular max = 2*pi) 0.47 + min_vel_x: 0.35 #zona morta - obtido por experimento 0.2 + max_vel_theta: 4 #2*(max_vel_x) / wheelbase 2.92 + min_vel_theta: -4 # -2.92 min_in_place_vel_theta: 1 #zona morta - obtido por experimento - escape_vel: -0.3 + escape_vel: -0.4 #-0.3 acc_lim_theta: 79.5 acc_lim_x: 44.4 - acc_lim_y: 0 + acc_lim_y: 44.4 holonomic_robot: false + yaw_goal_tolerance: 0.15 # default 0.05 rad + xy_goal_tolerance: 0.25 # default 0.1 m + controller_frequency: 4.0 diff --git a/twil_2dnav/config/costmap_common_params.yaml b/twil_2dnav/config/costmap_common_params.yaml index c03805b..a80f882 100644 --- a/twil_2dnav/config/costmap_common_params.yaml +++ b/twil_2dnav/config/costmap_common_params.yaml @@ -1,13 +1,13 @@ -obstacle_range: 2.5 # alcance da adição de obstáculos no costmap -raytrace_range: 3.0 # +obstacle_range: 2.5 # alcance da adição de obstáculos no costmap 2.5 +raytrace_range: 3.0 # 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 +inflation_radius: 0.35 +#cost_scaling_factor: 10 observation_sources: point_cloud_sensor diff --git a/twil_2dnav/config/global_costmap_params.yaml b/twil_2dnav/config/global_costmap_params.yaml index 139b82e..d1649b8 100644 --- a/twil_2dnav/config/global_costmap_params.yaml +++ b/twil_2dnav/config/global_costmap_params.yaml @@ -1,8 +1,8 @@ global_costmap: global_frame: map robot_base_frame: twil_origin - update_frequency: 2.0 + update_frequency: 1.0 static_map: true - resolution: 0.1 - origin_x: -16.0 - origin_y: -2.0 +# resolution: 0.1 +# origin_x: -16.0 +# origin_y: -2.0 diff --git a/twil_2dnav/config/local_costmap_params.yaml b/twil_2dnav/config/local_costmap_params.yaml index 0364d11..b073726 100644 --- a/twil_2dnav/config/local_costmap_params.yaml +++ b/twil_2dnav/config/local_costmap_params.yaml @@ -1,9 +1,9 @@ local_costmap: global_frame: odom robot_base_frame: twil_origin - update_frequency: 5.0 + update_frequency: 4.0 publish_frequency: 2.0 - static_map: true + static_map: false rolling_window: true width: 6.0 height: 6.0 diff --git a/twil_2dnav/launch/move_base.launch b/twil_2dnav/launch/move_base.launch index a52c9b7..8696beb 100644 --- a/twil_2dnav/launch/move_base.launch +++ b/twil_2dnav/launch/move_base.launch @@ -13,10 +13,7 @@ - - - - + diff --git a/twil_bringup/launch/gazebo_rviz.launch b/twil_bringup/launch/gazebo_rviz.launch index a511f06..b41ebdb 100644 --- a/twil_bringup/launch/gazebo_rviz.launch +++ b/twil_bringup/launch/gazebo_rviz.launch @@ -3,8 +3,8 @@ - - + + @@ -15,14 +15,12 @@ - + - - diff --git a/twil_bringup/rviz/gazebo_rviz.rviz b/twil_bringup/rviz/gazebo_rviz.rviz index 1cd2991..dda1efc 100644 --- a/twil_bringup/rviz/gazebo_rviz.rviz +++ b/twil_bringup/rviz/gazebo_rviz.rviz @@ -53,7 +53,7 @@ Visualization Manager: Y: 0 Z: 0 Plane: XY - Plane Cell Count: 10 + Plane Cell Count: 50 Reference Frame: Value: true - Alpha: 1 @@ -356,22 +356,22 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 7.028791904449463 + Distance: 8.200119972229004 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 4.286587715148926 - Y: 0.3864009976387024 - Z: 2.368278741836548 + X: 0.19336318969726562 + Y: 2.774914026260376 + Z: 2.59694242477417 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.9747968912124634 + Pitch: 1.4347964525222778 Target Frame: Value: Orbit (rviz) Yaw: 4.71176290512085 @@ -381,8 +381,8 @@ Window Geometry: collapsed: false Height: 1025 Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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+ Hide Right Dock: true + QMainWindow State: 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Selection: collapsed: false Time: @@ -390,7 +390,7 @@ Window Geometry: Tool Properties: collapsed: false Views: - collapsed: false + collapsed: true Width: 1853 X: 67 Y: 27 diff --git a/twil_description/launch/gazebo.launch b/twil_description/launch/gazebo.launch index c59641e..ee15c7f 100644 --- a/twil_description/launch/gazebo.launch +++ b/twil_description/launch/gazebo.launch @@ -3,12 +3,13 @@ + - + diff --git a/twil_description/world/centenario.world b/twil_description/world/centenario.world new file mode 100644 index 0000000..4571f07 --- /dev/null +++ b/twil_description/world/centenario.world @@ -0,0 +1,2915 @@ + + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + 1 + + + + + 0 0 1 + 100 100 + + + + + 65535 + + + + + 100 + 50 + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 0 + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + + + EARTH_WGS84 + 0 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