更新导航参数;删除无用的amcl包

src/robot_amcl/CMakeLists.txt

@@ -1,118 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(robot_amcl)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES robot_amcl
-#  CATKIN_DEPENDS other_catkin_pkg
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-# ${catkin_INCLUDE_DIRS}
-)
-

src/robot_amcl/launch/map_robot_amcl.launch

@@ -1,63 +0,0 @@
-<!--
-  Copyright: 2016-2019 ROS小课堂 www.corvin.cn
-  Description:
-    启动amcl节点，这样就可以在全局地图上对机器人进行定位了。
-  History:
-    20190728: initial this file.
--->
-<launch>
-  <!-- startup rviz node to show amcl process -->
-  <node name="amcl_rviz" type="rviz" pkg="rviz" args="-d $(find robot_amcl)/rviz/robot_amcl_config.rviz" />
-
-  <!-- Run amcl -->
-  <node pkg="amcl" type="amcl" name="robot_amcl_node" output="screen">
-
-    <!-- overall filter parameters -->
-    <param name="min_particles" value="400"/>
-    <param name="max_particles" value="5000"/>
-    <param name="kld_err"       value="0.01"/>
-    <param name="kld_z"         value="0.99"/>
-    <param name="update_min_d"  value="0.05"/>
-    <param name="update_min_a"  value="0.05"/>
-    <param name="resample_interval"   value="2"/>
-    <param name="transform_tolerance" value="0.5"/>
-    <param name="recovery_alpha_slow" value="0.001"/>
-    <param name="recovery_alpha_fast" value="0.1"/>
-    <!-- set particles init pose to robot pose -->
-    <param name="initial_pose_x" value="5.0"/>
-    <param name="initial_pose_y" value="10.0"/>
-    <param name="initial_pose_a" value="-1.57"/>
-    <param name="initial_cov_xx" value="0.25"/>
-    <param name="initial_cov_yy" value="0.25"/>
-    <param name="initial_cov_aa" value="0.068538917"/> <!-- pi/12 * pi/12 -->
-    <param name="gui_publish_rate" value="-1.0"/>
-    <param name="save_pose_rate"   value="0.5"/>
-    <param name="use_map_topic"    value="false"/>
-    <param name="first_map_only"   value="false"/>
-
-    <!-- laser model parameters -->
-    <param name="laser_min_range" value="0.05"/>
-    <param name="laser_max_range" value="4.0"/>
-    <param name="laser_max_beams" value="60"/>
-    <param name="laser_z_hit"     value="0.95"/>
-    <param name="laser_z_short"   value="0.1"/>
-    <param name="laser_z_max"     value="0.05"/>
-    <param name="laser_z_rand"    value="0.05"/>
-    <param name="laser_sigma_hit"    value="0.2"/>
-    <param name="laser_lambda_short" value="0.1"/>
-    <param name="laser_likelihood_max_dist" value="2.0"/>
-    <param name="laser_model_type" value="likelihood_field"/>
-
-    <!-- Odometry model parameters -->
-    <param name="odom_model_type" value="diff"/>
-    <param name="odom_alpha1"     value="0.03"/>
-    <param name="odom_alpha2"     value="0.03"/>
-    <param name="odom_alpha3"     value="0.03"/>
-    <param name="odom_alpha4"     value="0.03"/>
-    <param name="odom_alpha5"     value="0.0"/> <!--only used if model is "omni"-->
-    <param name="odom_frame_id"   value="/map_static"/>
-    <param name="base_frame_id"   value="/base_link"/>
-    <param name="global_frame_id" value="/map"/>
-    <param name="tf_broadcast"    value="true"/>
-  </node>
-</launch>

src/robot_amcl/launch/robot_amcl.launch

@@ -1,70 +0,0 @@
-<!--
-  Copyright: 2016-2018 ROS小课堂 www.corvin.cn
-  Author: corvin
-  Description:
-    启动amcl节点，这样就可以在全局地图上对机器人进行定位了。
-  History:
-    20180528: initial this file.
-    20190102: 删除加载地图的launch文件,在自动导航时来启动加载地图的launch文件.
--->
-<launch>
-  <!-- startup rviz node to show amcl process -->
-  <node name="amcl_rviz" type="rviz" pkg="rviz" args="-d $(find stdr_amcl)/rviz/stdr_amcl_config.rviz" />
-
-  <!-- Run amcl -->
-  <node pkg="amcl" type="amcl" name="stdr_amcl_node" output="screen">
-    <!-- amcl default subscribe scan topic, now remap to /robot0/laser_0 -->
-    <remap from="scan" to="/robot0/laser_0"/>
-
-    <!-- amcl default subscribe map topic, now remap to /amcl/map -->
-    <remap from="map" to="/amcl/map" />
-
-    <!-- overall filter parameters -->
-    <param name="min_particles" value="400"/>
-    <param name="max_particles" value="5000"/>
-    <param name="kld_err"       value="0.01"/>
-    <param name="kld_z"         value="0.99"/>
-    <param name="update_min_d"  value="0.05"/>
-    <param name="update_min_a"  value="0.05"/>
-    <param name="resample_interval"   value="2"/>
-    <param name="transform_tolerance" value="0.5"/>
-    <param name="recovery_alpha_slow" value="0.001"/>
-    <param name="recovery_alpha_fast" value="0.1"/>
-    <!-- set particles init pose to robot pose -->
-    <param name="initial_pose_x" value="1.0"/>
-    <param name="initial_pose_y" value="2.0"/>
-    <param name="initial_pose_a" value="0.0"/>
-    <param name="initial_cov_xx" value="0.25"/>
-    <param name="initial_cov_yy" value="0.25"/>
-    <param name="initial_cov_aa" value="0.068538917"/> <!-- pi/12 * pi/12 -->
-    <param name="gui_publish_rate" value="-1.0"/>
-    <param name="save_pose_rate"   value="0.5"/>
-    <param name="use_map_topic"    value="false"/>
-    <param name="first_map_only"   value="false"/>
-
-    <!-- laser model parameters -->
-    <param name="laser_min_range" value="0.05"/>
-    <param name="laser_max_range" value="4.0"/>
-    <param name="laser_max_beams" value="60"/>
-    <param name="laser_z_hit"     value="0.95"/>
-    <param name="laser_z_short"   value="0.1"/>
-    <param name="laser_z_max"     value="0.05"/>
-    <param name="laser_z_rand"    value="0.05"/>
-    <param name="laser_sigma_hit"    value="0.2"/>
-    <param name="laser_lambda_short" value="0.1"/>
-    <param name="laser_likelihood_max_dist" value="2.0"/>
-    <param name="laser_model_type" value="likelihood_field"/>
-
-    <!-- Odometry model parameters -->
-    <param name="odom_model_type" value="diff"/>
-    <param name="odom_alpha1"     value="0.03"/>
-    <param name="odom_alpha2"     value="0.03"/>
-    <param name="odom_alpha3"     value="0.03"/>
-    <param name="odom_alpha4"     value="0.03"/>
-    <param name="odom_alpha5"     value="0.0"/> <!--only used if model is "omni"-->
-    <param name="odom_frame_id"   value="/map_static"/>
-    <param name="base_frame_id"   value="/robot0"/>
-    <param name="global_frame_id" value="/map"/>
-    <param name="tf_broadcast"    value="true"/>
-  </node>
-</launch>

src/robot_amcl/package.xml

@@ -1,59 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>robot_amcl</name>
-  <version>0.0.0</version>
-  <description>The robot_amcl package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="corvin@todo.todo">corvin</maintainer>
-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/robot_amcl</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
-</package>

src/robot_amcl/rviz/robot_amcl_config.rviz

@@ -1,363 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Odometry1/Covariance1
-      Splitter Ratio: 0.522222221
-    Tree Height: 359
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679016
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: LaserScan
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.400000006
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.0299999993
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 5
-        Y: 5
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 40
-      Reference Frame: map
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        map:
-          Value: true
-        map_static:
-          Value: true
-        robot0:
-          Value: true
-        robot0_laser_0:
-          Value: false
-        robot0_sonar_0:
-          Value: false
-        robot0_sonar_1:
-          Value: false
-        robot0_sonar_2:
-          Value: false
-        robot0_sonar_3:
-          Value: false
-        robot0_sonar_4:
-          Value: false
-        world:
-          Value: false
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: false
-      Show Axes: true
-      Show Names: true
-      Tree:
-        world:
-          map:
-            map_static:
-              robot0:
-                robot0_laser_0:
-                  {}
-                robot0_sonar_0:
-                  {}
-                robot0_sonar_1:
-                  {}
-                robot0_sonar_2:
-                  {}
-                robot0_sonar_3:
-                  {}
-                robot0_sonar_4:
-                  {}
-      Update Interval: 0.100000001
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: x
-      Class: rviz/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: true
-      Max Color: 255; 255; 255
-      Max Intensity: 8.80745792
-      Min Color: 0; 0; 0
-      Min Intensity: 2.19338179
-      Name: LaserScan
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.100000001
-      Style: Flat Squares
-      Topic: /robot0/laser_0
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Arrow Length: 0.100000001
-      Axes Length: 0.300000012
-      Axes Radius: 0.00999999978
-      Class: rviz/PoseArray
-      Color: 139; 205; 248
-      Enabled: true
-      Head Length: 0.0700000003
-      Head Radius: 0.0299999993
-      Name: PoseArray
-      Shaft Length: 0.230000004
-      Shaft Radius: 0.00999999978
-      Shape: Arrow (Flat)
-      Topic: /particlecloud
-      Unreliable: false
-      Value: true
-    - Alpha: 0.699999988
-      Class: rviz/Map
-      Color Scheme: costmap
-      Draw Behind: true
-      Enabled: true
-      Name: Map
-      Topic: /amcl/map
-      Unreliable: false
-      Use Timestamp: false
-      Value: true
-    - Alpha: 0.600000024
-      Buffer Length: 20
-      Class: rviz/Path
-      Color: 57; 70; 255
-      Enabled: true
-      Head Diameter: 0.0299999993
-      Head Length: 0.0500000007
-      Length: 0.300000012
-      Line Style: Lines
-      Line Width: 0.0299999993
-      Name: Path
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Pose Color: 0; 85; 255
-      Pose Style: None
-      Radius: 0.0299999993
-      Shaft Diameter: 0.00999999978
-      Shaft Length: 0.0299999993
-      Topic: /robot_move_base/GlobalPlanner/plan
-      Unreliable: false
-      Value: true
-    - Alpha: 0.800000012
-      Buffer Length: 20
-      Class: rviz/Path
-      Color: 250; 232; 28
-      Enabled: true
-      Head Diameter: 0.0299999993
-      Head Length: 0.0299999993
-      Length: 0.300000012
-      Line Style: Billboards
-      Line Width: 0.00499999989
-      Name: Path
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Pose Color: 250; 232; 28
-      Pose Style: None
-      Radius: 0.0299999993
-      Shaft Diameter: 0.00999999978
-      Shaft Length: 0.00999999978
-      Topic: /robot_move_base/DWAPlannerROS/global_plan
-      Unreliable: false
-      Value: true
-    - Alpha: 0.5
-      Buffer Length: 1
-      Class: rviz/Path
-      Color: 255; 23; 112
-      Enabled: true
-      Head Diameter: 0.300000012
-      Head Length: 0.200000003
-      Length: 0.300000012
-      Line Style: Lines
-      Line Width: 0.0299999993
-      Name: Path
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Pose Color: 255; 85; 255
-      Pose Style: None
-      Radius: 0.0299999993
-      Shaft Diameter: 0.100000001
-      Shaft Length: 0.100000001
-      Topic: /robot_move_base/DWAPlannerROS/local_plan
-      Unreliable: false
-      Value: true
-    - Angle Tolerance: 0.100000001
-      Class: rviz/Odometry
-      Covariance:
-        Orientation:
-          Alpha: 0.5
-          Color: 255; 255; 127
-          Color Style: Unique
-          Frame: Local
-          Offset: 1
-          Scale: 1
-          Value: true
-        Position:
-          Alpha: 0.300000012
-          Color: 204; 51; 204
-          Scale: 1
-          Value: true
-        Value: true
-      Enabled: true
-      Keep: 110
-      Name: Odometry
-      Position Tolerance: 0.100000001
-      Shape:
-        Alpha: 0.699999988
-        Axes Length: 1
-        Axes Radius: 0.100000001
-        Color: 206; 255; 206
-        Head Length: 0.100000001
-        Head Radius: 0.100000001
-        Shaft Length: 0.200000003
-        Shaft Radius: 0.0500000007
-        Value: Arrow
-      Topic: /robot0/odom
-      Unreliable: false
-      Value: true
-    - Alpha: 1
-      Class: rviz/Polygon
-      Color: 255; 24; 105
-      Enabled: true
-      Name: Polygon
-      Topic: /robot_move_base/local_costmap/footprint
-      Unreliable: false
-      Value: true
-    - Alpha: 0.300000012
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /robot_move_base/local_costmap/costmap
-      Unreliable: false
-      Use Timestamp: false
-      Value: true
-    - Alpha: 0.699999988
-      Axes Length: 1
-      Axes Radius: 0.100000001
-      Class: rviz/Pose
-      Color: 239; 76; 35
-      Enabled: true
-      Head Length: 0.200000003
-      Head Radius: 0.200000003
-      Name: Pose
-      Shaft Length: 0.5
-      Shaft Radius: 0.0500000007
-      Shape: Arrow
-      Topic: /move_base_simple/goal
-      Unreliable: false
-      Value: true
-    - Alpha: 0.400000006
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /robot_move_base/global_costmap/costmap
-      Unreliable: false
-      Use Timestamp: false
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Default Light: true
-    Fixed Frame: map
-    Frame Rate: 20
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 15.2291393
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 8.06713963
-        Y: 5.65849018
-        Z: 2.00396991
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 1.20480001
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 4.68818998
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: true
-  Height: 1056
-  Hide Left Dock: true
-  Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000022400000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000073f0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: true
-  Width: 1855
-  X: 65
-  Y: 24

src/robot_description/launch/robot_description.launch

@@ -23,7 +23,7 @@
   <node
     name="robot_state_publisher"
     pkg="robot_state_publisher"
-    type="state_publisher" >
+    type="robot_state_publisher" >
     <param name="publish_frequency" value="20.0"/>
   </node>
 </launch>

src/robot_navigation/config/costmap_common_params.yaml

@@ -23,10 +23,10 @@
 #robot_radius: 0.13
 
 #圆形机器人前面带上下移动夹爪的参数
-footprint: [[ 0.22,  0.00],[ 0.22,  0.04],[ 0.10,  0.04],
+footprint: [[ 0.22,  0.00],[ 0.22,  0.055],[ 0.10,  0.055],
             [ 0.09,  0.09],[ 0.00,  0.13],[-0.09,  0.09],
             [-0.13,  0.00],[-0.09, -0.09],[ 0.00, -0.13],
-            [ 0.09, -0.09],[ 0.10, -0.04],[ 0.22, -0.04]]
+            [ 0.09, -0.09],[ 0.10, -0.055],[ 0.22, -0.055]]
 map_type: costmap
 
 obstacle_layer:
@@ -40,8 +40,8 @@ obstacle_layer:
 
 inflation_layer:
  enabled: true
- cost_scaling_factor: 10
- inflation_radius:     0.10
+ cost_scaling_factor: 5
+ inflation_radius:     0.25
 
 
 

src/robot_navigation/config/dwa_local_planner_params.yaml

@@ -16,13 +16,13 @@ DWAPlannerROS:
   max_vel_trans: 0.2
   min_vel_trans: 0.15
 
-  max_vel_x: 0.2
-  min_vel_x: -0.2
+  max_vel_x: 0.15
+  min_vel_x: -0.15
 
-  max_vel_y: 0.2
-  min_vel_y: -0.2
+  max_vel_y: 0.15
+  min_vel_y: -0.15
 
-  max_vel_theta: 1.0
+  max_vel_theta: 0.5
   min_vel_theta: 0.5
 
 # Goal Tolerance Parametes
@@ -31,7 +31,7 @@ DWAPlannerROS:
   latch_xy_goal_tolerance: false
 
 # Forward Simulation Parameters
-  sim_time: 2
+  sim_time: 1.5
   vx_samples: 10
   vy_samples: 10
   vth_samples: 40

src/robot_navigation/config/global_costmap_params.yaml

@@ -16,7 +16,7 @@ global_costmap:
    global_frame: map
    robot_base_frame: base_footprint
 
-   update_frequency: 1.0
+   update_frequency: 0.1
    publish_frequency: 1.0
    static_map: true
    rolling_window: false
@@ -24,6 +24,6 @@ global_costmap:
 
    plugins:
    - {name: static_layer,     type: "costmap_2d::StaticLayer"}
-   - {name: obstacle_layer,     type: "costmap_2d::ObstacleLayer"}
+   - {name: obstacle_layer,     type: "costmap_2d::VoxelLayer"}
    - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}
 

src/robot_navigation/config/local_costmap_params.yaml

@@ -19,7 +19,7 @@
 local_costmap:
     global_frame: odom_combined
     robot_base_frame: base_footprint
-    update_frequency: 3.0
+    update_frequency: 5.0
     publish_frequency: 3.0
 
     static_map: false
@@ -30,6 +30,6 @@ local_costmap:
     transform_tolerance: 2.0
 
     plugins:
-    - {name: obstacle_layer,   type: "costmap_2d::ObstacleLayer"}
+    - {name: obstacle_layer,   type: "costmap_2d::VoxelLayer"}
     - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}
 

src/robot_navigation/launch/amcl_ydlidar_X2L.launch

@@ -24,19 +24,19 @@
     <param name="global_frame_id" value="map"/>
     <param name="odom_frame_id" value="odom_combined"/>
 
-    <param name="use_map_topic" value="true"/>
-    <param name="transform_tolerance" value="0.5" />
-    <param name="gui_publish_rate" value="1.0"/>
+    <param name="use_map_topic" value="false"/>
+    <param name="transform_tolerance" value="0.1" />
+    <param name="gui_publish_rate" value="10.0"/>
     <param name="laser_max_beams" value="300"/>
     <param name="min_particles" value="500"/>
     <param name="max_particles" value="5000"/>
     <param name="kld_err" value="0.1"/>
     <param name="kld_z" value="0.99"/>
-    <param name="odom_alpha1" value="0.005"/>
-    <param name="odom_alpha2" value="0.005"/>
-    <param name="odom_alpha3" value="0.010"/>
-    <param name="odom_alpha4" value="0.005"/>
-    <param name="odom_alpha5" value="0.003"/>
+    <param name="odom_alpha1" value="0.2"/>
+    <param name="odom_alpha2" value="0.2"/>
+    <param name="odom_alpha3" value="0.2"/>
+    <param name="odom_alpha4" value="0.2"/>
+    <param name="odom_alpha5" value="0.2"/>
 
     <param name="laser_z_hit" value="0.9"/>
     <param name="laser_z_short" value="0.05"/>
@@ -49,7 +49,7 @@
     <param name="laser_min_range" value="0.14"/>
     <param name="laser_max_range" value="7.0"/>
     <param name="laser_likelihood_max_dist" value="2.0"/>
-    <param name="update_min_d" value="0.2"/>
+    <param name="update_min_d" value="0.05"/>
     <param name="update_min_a" value="0.5"/>
     <param name="resample_interval" value="2"/>
     <param name="transform_tolerance" value="3.0"/>