更新小车自动导航相关的配置文件参数,优化导航效果

src/robot_navigation/config/base_global_planner_params.yaml

@@ -1,4 +1,3 @@
-#  
 # Description: 三轮全向移动小车的全局路径规划参数配置文件.
 # Author: corvin
 # History:
@@ -21,4 +20,3 @@ GlobalPlanner:
     publish_potential: true
     orientation_mode: 0
     orientation_window_size: 1
-

src/robot_navigation/config/base_local_planner_params.yaml

@@ -1,66 +0,0 @@
-# Author: corvin
-# Description:
-#  本地规划配置文件,各参数意义如下：
-#   max_vel_x:最大前进速度.
-#   min_vel_x:最小前进速度.
-#   max_vel_y:最大横向移动速度.
-#   min_vel_y:最小横向移动速度.
-#   max_vel_theta:最大旋转角速度.
-#   min_in_place_vel_theta:机器人最小原地旋转速度.
-#   escape_vel: 机器人后退速度,该值必须是负数. 
-# History:
-#   20180410: init this file.
-#   20180411: update param based on kinds.
-#
-
-recovery_behavior_enabled: true
-clearing_rotation_allowed: false
-
-TrajectoryPlannerROS:
-   #Robot Configuration Parameters
-   max_vel_x: 0.15
-   min_vel_x: 0.10
-   y_vels: [-0.17,-0.1,0.1,0.17]
-   max_vel_theta: 0.5
-   min_vel_theta: -0.5
-   min_in_place_vel_theta: 0.3
-   escape_vel: -0.10
-
-   acc_lim_x: 0.05
-   acc_lim_y: 0.05   # accelerator speed 
-   acc_lim_theta: 0.1
-
-   holonomic_robot: true
-
-   #Goal Tolerance Parameters
-   xy_goal_tolerance: 0.30  # 30cm
-   yaw_goal_tolerance: 0.3  # about 17 degrees
-   latch_xy_goal_tolerance: true
-
-   #Forward Simulation Parameters
-   sim_time: 2.0
-   sim_granularity: 0.025
-   angular_sim_granularity: 0.025
-   vx_samples: 5
-   vy_samples: 3 # omniwheel robot
-   vtheta_samples: 12 
-   
-   #Trajectory Scoring Parameters
-   meter_scoring: true
-   pdist_scale: 0.8
-   gdist_scale: 0.5
-   occdist_scale: 0.1
-
-   heading_lookahead: 0.325
-   heading_scoring: false
-   heading_scoring_timestep: 0.8
-   dwa: true
-   publish_cost_grid_pc: false
-
-   #Oscillation Prevention Parameters
-   oscillation_timeout: 3.0
-   oscillation_reset_dist: 0.5
-
-   #Global Plan Parameters
-   prune_plan: true
-

src/robot_navigation/config/costmap_common_params.yaml

@@ -17,15 +17,14 @@
 #   20200413:更新参数并更新注释信息.
 #
 
-
-#单独圆形机器人的参数
-#robot_radius: 0.13
+#单独圆形机器人的底盘半径参数
+robot_radius: 0.10
 
 #圆形机器人前面带上下移动夹爪的参数
-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],[ 0.30, -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],[ 0.30, -0.055]]
 map_type: costmap
 
 obstacle_layer:
@@ -36,11 +35,7 @@ obstacle_layer:
  observation_sources: scan
  scan: {sensor_frame: lidar, data_type: LaserScan, topic: scan, marking: true, clearing: true}
 
-
 inflation_layer:
  enabled: true
  cost_scaling_factor: 5
- inflation_radius:     0.28
-
-
-
+ inflation_radius: 0.28

src/robot_navigation/config/dwa_local_planner_params.yaml

@@ -7,7 +7,7 @@
 base_local_planner: "dwa_local_planner/DWAPlannerROS"
 
 DWAPlannerROS:
-#robot configuration params
+# Robot configuration params
   acc_lim_x: 0.3
   acc_lim_y: 0
   acc_lim_th: 0.5

src/robot_navigation/config/local_costmap_params.yaml

@@ -31,4 +31,3 @@ local_costmap:
     plugins:
     - {name: obstacle_layer,   type: "costmap_2d::VoxelLayer"}
     - {name: inflation_layer,  type: "costmap_2d::InflationLayer"}
-

src/robot_navigation/launch/gmapping_ydlidar_X2L.launch

@@ -3,7 +3,9 @@
     首先启动x2l雷达,然后启动gmapping节点.所有节点启动成功后,即可
     开始gmapping建图,在rviz中可以查看整个建图过程.下面来解释一下
     gmapping操作的重点参数:
-    1):delta:调节生成地图的分辨率,单位米.
+    1):delta:调节生成地图的分辨率,每像素点代表实际的距离,单位米.
+    2):map_update_interval:建立地图时每隔多长时间更新一下地图,单位秒,该值越小越消耗cpu资源.
+    3):maxUrange:激光雷达使用的最大范围,超过该距离的雷达数据会舍弃不参与建图.
   Author: corvin
   History:
     20200325:init this file.
@@ -15,18 +17,18 @@
   <include file="$(find robot_navigation)/launch/ydlidar_X2L.launch" />
 
   <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">  
-    <param name="odom_frame" value="odom_combined" />
-
-    <param name="map_update_interval" value="5.0"/>
-    <param name="maxUrange"  value="7.5"/>
-    <param name="sigma"      value="0.05"/>
-    <param name="kernelSize" value="1"/>
-    <param name="lstep"      value="0.05"/>
-    <param name="astep"      value="0.05"/>
-    <param name="iterations" value="5"/>
-    <param name="lsigma"     value="0.075"/>
-    <param name="ogain"      value="3.0"/>
-    <param name="lskip"      value="0"/>
+    <param name="odom_frame"   value="odom_combined"/>
+
+    <param name="map_update_interval" value="4.0"/>
+    <param name="maxUrange"    value="7.0"/>
+    <param name="sigma"        value="0.05"/>
+    <param name="kernelSize"   value="1"/>
+    <param name="lstep"        value="0.05"/>
+    <param name="astep"        value="0.05"/>
+    <param name="iterations"   value="5"/>
+    <param name="lsigma"       value="0.075"/>
+    <param name="ogain"        value="3.0"/>
+    <param name="lskip"        value="0"/>
     <param name="minimumScore" value="50"/>
 
     <param name="srr" value="0.1"/>
@@ -38,18 +40,17 @@
     <param name="angularUpdate"  value="0.5"/>
     <param name="temporalUpdate" value="3.0"/>
     <param name="resampleThreshold" value="0.5"/>
-    <param name="particles" value="30"/>
+    <param name="particles"      value="30"/>
 
     <param name="xmin"  value="-5.0"/>
     <param name="ymin"  value="-5.0"/>
     <param name="xmax"  value="5.0"/>
     <param name="ymax"  value="5.0"/>
-    <param name="delta" value="0.05"/> <!--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 -->
 
     <param name="llsamplerange" value="0.01"/>
     <param name="llsamplestep"  value="0.01"/>
     <param name="lasamplerange" value="0.005"/>
     <param name="lasamplestep"  value="0.005"/>
   </node>
-</launch>
-
+</launch>