ROS navigation

costmap_common_params.yaml

footprint: [[-0.1,-0.16],[-0.1,0.16],[0.1,0.16],[0.1,-0.16]]

inflation_layer:
  inflation_radius: 0.08
  
obstacle_layer:
    max_obstacle_height: 0.80
    map_type: costmap    

dwa_local_planner_params.yaml

# Params: http://wiki.ros.org/dwa_local_planner
# Dynamic Reconfigure:
#    rosrun rqt_reconfigure rqt_reconfigure

DWAPlannerROS:

# Robot Configuration Parameters
# Velocity in X direction should be the same as translation velocity
# Use same values as in max/min_vel_trans
  max_vel_x: 2.0  # m/s (2 m/s to be in target robot)
  min_vel_x: -2.0

  max_vel_y: 0.0  # m/s (only for holonomic robot)
  min_vel_y: 0.0

# The velocity when robot is moving in a straight line
# Move the robot in straight line until speed becomes constant
  max_vel_trans:  2.0  # 0.6 (m/s)
# Set the minimum translation velocity to negative value
# So the robot will backoff when stucks
  min_vel_trans:  -2.0   # 0.15

# Move the robot rotate 360 degreees until it reaches a constant speed
  max_vel_theta: 0.6 # (rad/s)
# Set the minimum rotation velocity to negative value
# So robot can rotate in both directions
  min_vel_theta: -0.6

# Obtain acceleration from:
# 1: Motors specs
# 2: Vmax/t_Vmax (time (t_Vmax) to reach translation velocity from 0 to Vmax) (Use odometry timestamp)
  acc_lim_x: 1 # 2.0 (m/s^2)
  acc_lim_y: 0.0  # only for holonomic robot
# Wmax/t_Wmax (time (t_Wmax) to reach angular velocity from 0 to Wmax) (Use odometry timestamp)
  acc_lim_theta: 2.2 # 2 (rad/s^2)

# Goal Tolerance Parametes
# The tolerance in meters for the controller in the x & y distance when achieving a goal
  xy_goal_tolerance: 0.1  # 0.1

# The tolerance in radians for the controller in yaw/rotation when achieving its goal
  yaw_goal_tolerance: 0.1  # 0.05

# If goal tolerance is latched, if the robot ever reaches the goal xy location
# it will simply rotate in place,
# even if it ends up outside the goal tolerance while it is doing so. (true, false)
  latch_xy_goal_tolerance: true

# Forward Simulation Parameters

# Time allowed for the robot to move with sampled velocity
# >= 5 -> heavy computations, longer path
# <= 2 -> light computations, problems finding path for narrow doorwat, gap between furniture
# 3-5 -> best fit
  sim_time: 2.5 # default: 1.7

  vx_samples: 20 # 20
  vy_samples: 0
  vth_samples: 30 # 40
  controller_frequency: 10

# Trajectory Scoring Parameters
# Higher values makes robot to prefer local trajectory close to global path
  path_distance_bias: 32.0   # meters, 32.0
# Penalizes trajectories that are far from goal location
# Higher values makes robot's local trajectory closer to goal than global path
  goal_distance_bias: 20.0   # meters, 20.0
# Selects trajectories far from obstacles
# When increase -> far (stucks in tight places), too low -> too close to obstacles
  occdist_scale: 0.02  # 0.02 (in range 0..255)

  forward_point_distance: 0.325
  stop_time_buffer: 0.2
  scaling_speed: 0.25
  max_scaling_factor: 0.2

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.08

#Global Plan Perameters  ______

  prune_plan: true

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true

global_costmap_params.yaml

global_costmap:
  global_frame: map
  robot_base_frame: base_footprint

  update_frequency: 5.0  #was 5.0
  publish_frequency: 3.0
  transform_tolerance: 0.3

  static_map: true
  rolling_window: false

local_costmap_params.yaml

local_costmap:
  global_frame: map
  robot_base_frame: base_footprint
  update_frequency: 5.0
  static_map: false

  # The "publish_frequency" parameter determines the rate, in Hz, at which the costmap will publish visualization information
  publish_frequency: 10.0
  transform_tolerance: 0.5


  # Setting the "rolling_window" parameter to true means that the costmap will remain centered around the robot as the robot moves through the world.
  rolling_window: true
  width: 2  # meters
  height: 2  # meters
  resolution: 0.05  # meters per cell

move_base_params.yaml

# Params: http://wiki.ros.org/move_base
shutdown_costmaps: false
controller_frequency: 5.0  # Hz, velocity commands to cmd_vel
planner_patience: 5.0  # sec
controller_patience: 10.0  # sec
conservative_reset_dist: 3.0  # distance from an obstacle at which it will unstuck itself (meters)
planner_frequency: 0.0    # Hz  (if 0 -> run gp_loop when new goal is received), prev.: 8.0
oscillation_timeout: 10.0  # sec, oscillate before recovery behaviour
oscillation_distance: 0.2  # meters
recovery_behavior_enabled: true
recovery_behaviors:
  - name: 'aggressive_reset'
    type: 'clear_costmap_recovery/ClearCostmapRecovery'