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fmricofmrico
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Merge pull request #1 from fmrico/params_and_maps
Add maps and params for costmap stack
2 parents f2387c5 + b860e08 commit 6e5ef50

7 files changed

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‎maps/home2.pgm‎

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‎maps/home2.yaml‎

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image: home2.pgm
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mode: trinary
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resolution: 0.05
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origin: [-9.39, -5.71, 0]
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negate: 0
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occupied_thresh: 0.65
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free_thresh: 0.196

‎maps/warehouse.pgm‎

1.61 MB
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‎maps/warehouse.yaml‎

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image: warehouse.pgm
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mode: trinary
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resolution: 0.03
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origin: [-15.1, -25, 0]
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negate: 0
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occupied_thresh: 0.65
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free_thresh: 0.1

‎robots_params/costmap.mapping.params.yaml‎

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controller_node:
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ros__parameters:
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use_sim_time: true
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controller_types: [dummy]
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dummy:
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rt_freq: 30.0
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plugin: easynav_controller/DummyController
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cycle_time_nort: 0.01
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cycle_time_rt: 0.001
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localizer_node:
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ros__parameters:
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use_sim_time: true
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localizer_types: [dummy]
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dummy:
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rt_freq: 50.0
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freq: 5.0
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reseed_freq: 0.1
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plugin: easynav_localizer/DummyLocalizer
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cycle_time_nort: 0.01
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cycle_time_rt: 0.001
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maps_manager_node:
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ros__parameters:
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use_sim_time: true
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map_types: [costmap]
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costmap:
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freq: 10.0
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plugin: easynav_costmap_maps_manager/CostmapMapsManager
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planner_node:
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ros__parameters:
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use_sim_time: true
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planner_types: [dummy]
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dummy:
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freq: 1.0
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plugin: easynav_planner/DummyPlanner
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cycle_time_nort: 0.2
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cycle_time_rt: 0.001
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sensors_node:
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ros__parameters:
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use_sim_time: true
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forget_time: 0.5
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system_node:
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ros__parameters:
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use_sim_time: true
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position_tolerance: 0.1
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angle_tolerance: 0.05

‎robots_params/costmap.params.yaml‎

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controller_node:
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ros__parameters:
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use_sim_time: true
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controller_types: [simple]
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simple:
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rt_freq: 30.0
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plugin: easynav_simple_controller/SimpleController
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max_linear_speed: 1.2
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max_angular_speed: 0.4
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look_ahead_dist: 0.2
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k_rot: 0.2
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localizer_node:
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ros__parameters:
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use_sim_time: true
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localizer_types: [costmap]
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costmap:
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rt_freq: 50.0
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freq: 5.0
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reseed_freq: 1.0
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plugin: easynav_costmap_localizer/AMCLLocalizer
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num_particles: 100
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noise_translation: 0.05
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noise_rotation: 0.1
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noise_translation_to_rotation: 0.1
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initial_pose:
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x: 0.0
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y: 0.0
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yaw: 0.0
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std_dev_xy: 0.1
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std_dev_yaw: 0.01
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maps_manager_node:
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ros__parameters:
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use_sim_time: true
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map_types: [costmap]
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costmap:
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freq: 10.0
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plugin: easynav_costmap_maps_manager/CostmapMapsManager
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package: easynav_indoor_testcase
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map_path_file: maps/home2.yaml
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filters: [obstacles, inflation]
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obstacles:
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plugin: easynav_costmap_maps_manager/CostmapMapsManager/ObstaclesFilter
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inflation:
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plugin: easynav_costmap_maps_manager/CostmapMapsManager/InflationFilter
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inflation_radius: 1.3
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cost_scaling_factor: 3.0
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planner_node:
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ros__parameters:
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use_sim_time: true
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planner_types: [simple]
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simple:
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freq: 0.5
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plugin: easynav_costmap_planner/CostmapPlanner
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cost_factor: 10.0
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sensors_node:
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ros__parameters:
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use_sim_time: true
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forget_time: 0.5
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sensors: [laser1]
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perception_default_frame: odom
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laser1:
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topic: /scan_raw
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type: sensor_msgs/msg/LaserScan
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group: points
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camera1:
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topic: /rgbd_camera/points
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type: sensor_msgs/msg/PointCloud2
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group: points
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system_node:
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ros__parameters:
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use_sim_time: true
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use_real_time: false
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position_tolerance: 0.1
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angle_tolerance: 0.05

‎robots_params/simple.mapping.params.yaml‎

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controller_node:
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ros__parameters:
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use_sim_time: true
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controller_types: [dummy]
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dummy:
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rt_freq: 30.0
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plugin: easynav_controller/DummyController
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cycle_time_nort: 0.01
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cycle_time_rt: 0.001
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localizer_node:
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ros__parameters:
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use_sim_time: true
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localizer_types: [dummy]
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dummy:
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rt_freq: 50.0
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freq: 5.0
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reseed_freq: 0.1
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plugin: easynav_localizer/DummyLocalizer
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cycle_time_nort: 0.01
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cycle_time_rt: 0.001
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maps_manager_node:
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ros__parameters:
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use_sim_time: true
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map_types: [simple]
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simple:
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freq: 10.0
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plugin: easynav_simple_maps_manager/SimpleMapsManager
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planner_node:
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ros__parameters:
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use_sim_time: true
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planner_types: [dummy]
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dummy:
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freq: 1.0
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plugin: easynav_planner/DummyPlanner
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cycle_time_nort: 0.2
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cycle_time_rt: 0.001
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sensors_node:
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ros__parameters:
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use_sim_time: true
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forget_time: 0.5
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system_node:
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ros__parameters:
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use_sim_time: true
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position_tolerance: 0.1
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angle_tolerance: 0.05

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