保存dwa参数,之后改用teb导航

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,  0.055],[ 0.10,  0.055],
+footprint: [[ 0.30,  0.00],[ 0.30,  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, -0.055],[ 0.22, -0.055]]
+            [ 0.09, -0.09],[ 0.10, -0.055],[ 0.30, -0.055]]
 map_type: costmap
 
 obstacle_layer:
@@ -41,7 +41,7 @@ obstacle_layer:
 inflation_layer:
  enabled: true
  cost_scaling_factor: 5
- inflation_radius:     0.15
+ inflation_radius:     0.28
 
 
 

src/robot_navigation/config/dwa_local_planner_params.yaml

@@ -11,31 +11,31 @@ DWAPlannerROS:
 #robot configuration params
   acc_lim_x: 0.3
   acc_lim_y: 0
-  acc_lim_th: 0.3
+  acc_lim_th: 0.5
 
-  max_vel_trans: 0.3
+  max_vel_trans: 0.4
   min_vel_trans: 0.25
 
-  max_vel_x: 0.35
-  min_vel_x: -0.25
+  max_vel_x: 0.4
+  min_vel_x: 0.3
 
   max_vel_y: 0
   min_vel_y: 0
 
-  max_vel_theta: 1
+  max_vel_theta: 0.8
   min_vel_theta: 0.5
 
 # Goal Tolerance Parametes
-  xy_goal_tolerance: 0.10
-  yaw_goal_tolerance: 0.17
+  xy_goal_tolerance: 0.30
+  yaw_goal_tolerance: 0.3
   latch_xy_goal_tolerance: false
 
 # Forward Simulation Parametesrs
-  sim_time: 1.5
-  vx_samples: 10
+  sim_time: 1
+  vx_samples: 30
   vy_samples: 0
-  vth_samples: 20
-  controller_frequency: 3
+  vth_samples: 40
+  controller_frequency: 8
 
 # Trajectory Scoring Parameters
   path_distance_bias: 32.0

src/robot_navigation/config/global_costmap_params.yaml

@@ -16,11 +16,12 @@ global_costmap:
    global_frame: map
    robot_base_frame: base_footprint
 
-   update_frequency: 0.1
+   update_frequency: 1.0
    publish_frequency: 1.0
-   static_map: true
+   #static_map: true
    rolling_window: false
-   transform_tolerance: 2.0
+   resolution: 0.05
+   transform_tolerance: 10.0
 
    plugins:
    - {name: static_layer,     type: "costmap_2d::StaticLayer"}

src/robot_navigation/config/local_costmap_params.yaml

@@ -17,17 +17,17 @@
 #  20200413:更新本地代价地图配置参数.
 #  20200927:添加plugins参数,配置障碍物层和膨胀层.
 local_costmap:
-    global_frame: odom_combined
+    global_frame: map
     robot_base_frame: base_footprint
-    update_frequency: 5.0
+    update_frequency: 3.0
     publish_frequency: 3.0
 
-    static_map: false
+    #static_map: false
     rolling_window: true
     width: 2.0
     height: 2.0
-    resolution: 0.02   #should same as map.yaml file
-    transform_tolerance: 2.0
+    resolution: 0.05   #should same as map.yaml file
+    transform_tolerance: 10.0
 
     plugins:
     - {name: obstacle_layer,   type: "costmap_2d::VoxelLayer"}

src/robot_navigation/launch/amcl_ydlidar_X2L.launch

@@ -8,7 +8,7 @@
 -->
 <launch>
   <!-- Run the map server with a map -->
-  <node name="map_server" pkg="map_server" type="map_server" args="$(find robot_navigation)/maps/mymap.yaml" />
+  <node name="map_server" pkg="map_server" type="map_server" args="$(find robot_navigation)/maps/3.yaml" />
 
   <!-- startup ydlidar X2L node -->
   <include file="$(find robot_navigation)/launch/ydlidar_X2L.launch" />
@@ -23,26 +23,31 @@
     <param name="base_frame_id" value="base_footprint"/>
     <param name="global_frame_id" value="map"/>
     <param name="odom_frame_id" value="odom_combined"/>
+    <param name="tf_broadcast"    value="true"/>
 
     <param name="use_map_topic" value="false"/>
-    <param name="transform_tolerance" value="0.1" />
+    <param name="first_map_only" value="false" />
+
+    <param name="transform_tolerance" value="3" />
     <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="max_particles" value="2500"/>
     <param name="kld_err" value="0.1"/>
     <param name="kld_z" value="0.99"/>
     <param name="odom_alpha1" value="0.2"/>
-    <param name="odom_alpha2" value="0.2"/>
-    <param name="odom_alpha3" value="0.2"/>
+    <param name="odom_alpha2" value="0.1"/>
+    <param name="odom_alpha3" value="0.1"/>
     <param name="odom_alpha4" value="0.2"/>
-    <param name="odom_alpha5" value="0.2"/>
+    <param name="odom_alpha5" value="0.0"/>
+
+    <param name="save_pose_rate" value="0.5" />
 
-    <param name="laser_z_hit" value="0.9"/>
+    <param name="laser_z_hit" value="0.5"/>
     <param name="laser_z_short" value="0.05"/>
     <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_z_rand" value="0.5"/>
+    <param name="laser_sigma_hit" value="0.1"/>
     <param name="laser_lambda_short" value="0.1"/>
     <param name="laser_model_type" value="likelihood_field"/>
     <param name="laser_model_type" value="beam"/>
@@ -50,11 +55,11 @@
     <param name="laser_max_range" value="7.0"/>
     <param name="laser_likelihood_max_dist" value="2.0"/>
     <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"/>
-    <param name="recovery_alpha_slow" value="0.0"/>
-    <param name="recovery_alpha_fast" value="0.0"/>
+    <param name="update_min_a" value="0.08"/>
+    <param name="resample_interval" value="1"/>
+    <param name="transform_tolerance" value="0.8"/>
+    <param name="recovery_alpha_slow" value="0.001"/>
+    <param name="recovery_alpha_fast" value="0.1"/>
   </node>
 </launch>
 

src/robot_navigation/launch/gmapping_ydlidar_X2L.launch

@@ -48,7 +48,7 @@
     <param name="ymin" value="-5.0"/>
     <param name="xmax" value="5.0"/>
     <param name="ymax" value="5.0"/>
-    <param name="delta" value="0.02"/> <!--resolution of the map --><!--大环境建图范围为0.05-0.1 -->
+    <param name="delta" value="0.05"/> <!--resolution of the map --><!--大环境建图范围为0.05-0.1 -->
 
     <param name="llsamplerange" value="0.01"/>
     <param name="llsamplestep"  value="0.01"/>

src/robot_navigation/launch/move_base.launch

@@ -14,8 +14,8 @@
 -->
 <launch>
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
-    <param name="controller_frequency" value="15" />
-    <param name="controller_patiente"  value="3.0" />
+    <param name="controller_frequency" value="10" />
+    <param name="controller_patiente"  value="4.0" />
 
     <param name="planner_patience"  value="5.0" />
     <param name="planner_frequency" value="0.0" />

src/robot_navigation/maps/3.yaml

@@ -0,0 +1,7 @@
+image: 3.pgm
+resolution: 0.050000
+origin: [-0.04725, -4.214745, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

src/robot_navigation/maps/mymap.yaml

@@ -1,6 +1,6 @@
 image: mymap.pgm
-resolution: 0.020000
-origin: [-5.000000, -5.000000, 0.000000]
+resolution: 0.050000
+origin: [-16.200000, -5.000000, 0.000000]
 negate: 0
 occupied_thresh: 0.65
 free_thresh: 0.196

src/robot_navigation/maps/test.yaml

@@ -1,6 +1,6 @@
 image: test.pgm
-resolution: 0.020000
-origin: [-15.240000, -15.880000, 0.000000]
+resolution: 0.050000
+origin: [-5.000000, -16.200000, 0.000000]
 negate: 0
 occupied_thresh: 0.65
 free_thresh: 0.196