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[Personalrobots-commit] SF.net SVN: personalrobots:[15146] pkg/trunk/demos/erratic_gazebo
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From: <tpr...@us...> - 2009-05-09 02:36:34
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Revision: 15146
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=15146&view=rev
Author: tpratkanis
Date: 2009-05-09 02:36:16 +0000 (Sat, 09 May 2009)
Log Message:
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Add planner run script. It does not work because there is no laser frame.
Added Paths:
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pkg/trunk/demos/erratic_gazebo/2dnav-gazebo-simple-fake_localization.xml
pkg/trunk/demos/erratic_gazebo/base_local_planner_params.yaml
pkg/trunk/demos/erratic_gazebo/costmap_common_params.yaml
pkg/trunk/demos/erratic_gazebo/navfn_params.yaml
Added: pkg/trunk/demos/erratic_gazebo/2dnav-gazebo-simple-fake_localization.xml
===================================================================
--- pkg/trunk/demos/erratic_gazebo/2dnav-gazebo-simple-fake_localization.xml (rev 0)
+++ pkg/trunk/demos/erratic_gazebo/2dnav-gazebo-simple-fake_localization.xml 2009-05-09 02:36:16 UTC (rev 15146)
@@ -0,0 +1,48 @@
+<launch>
+ <group name="wg">
+
+ <!-- start up robot -->
+ <include file="$(find erratic_gazebo)/erratic.launch"/>
+
+
+ <!-- Fake Localization -->
+ <node pkg="fake_localization" type="fake_localization" name="fake_localization" respawn="true" output="screen" >
+ <param name="odom_frame_id" value="odom"/>
+ </node>
+
+
+ <!-- Filter for base laser shadowing/veiling -->
+ <node pkg="laser_scan" type="scan_shadows_filter_node" respawn="true" name="base_shadow_filter_non_preserve" >
+ <param name="scan_topic" value="base_scan" />
+ <param name="cloud_topic" value="base_scan_marking" />
+ <param name="laser_max_range" value="30.0" />
+ </node>
+
+ <!-- for clearing we want preservative -->
+ <node pkg="laser_scan" type="scan_shadows_filter_node" respawn="true" name="base_shadow_filter_preserve" >
+ <param name="scan_topic" value="base_scan" />
+ <param name="cloud_topic" value="base_scan_clearing" />
+ <param name="preservative" value="true" />
+ <param name="laser_max_range" value="30.0" />
+ </node>
+
+ <!-- for moving -->
+ <node pkg="nav" type="move_base" respawn="false" name="move_base" output="screen">
+ <param name="controller_frequency" value="10.0" />
+
+ <rosparam file="$(find erratic_gazebo)/costmap_common_params.yaml" command="load" ns="navfn" />
+ <rosparam file="$(find erratic_gazebo)/costmap_common_params.yaml" command="load" ns="base_local_planner" />
+ <rosparam file="$(find erratic_gazebo)/navfn_params.yaml" command="load" />
+ <rosparam file="$(find erratic_gazebo)/base_local_planner_params.yaml" command="load" />
+ </node>
+
+ <!-- load map -->
+ <node pkg="map_server" type="map_server" args="$(find gazebo_robot_description)/world/Media/materials/textures/map3.png 0.1" respawn="false" output="screen" />
+
+ <!-- for visualization -->
+ <!--node pkg="rviz" type="rviz" respawn="false" output="screen" /-->
+ <node pkg="nav_view" type="nav_view" respawn="true" />
+
+ </group>
+</launch>
+
Added: pkg/trunk/demos/erratic_gazebo/base_local_planner_params.yaml
===================================================================
--- pkg/trunk/demos/erratic_gazebo/base_local_planner_params.yaml (rev 0)
+++ pkg/trunk/demos/erratic_gazebo/base_local_planner_params.yaml 2009-05-09 02:36:16 UTC (rev 15146)
@@ -0,0 +1,41 @@
+base_local_planner:
+ #Independent settings for the local costmap
+ costmap:
+ global_frame: map
+ robot_base_frame: base_link
+ update_frequency: 5.0
+ publish_frequency: 0.0
+ static_map: false
+ rolling_window: true
+ width: 6.0
+ height: 6.0
+ resolution: 0.025
+ origin_x: 0.0
+ origin_y: 0.0
+ transform_tolerance: 0.2
+ costmap_visualization_rate: 2.0
+ world_model: freespace
+ sim_time: 1.7
+ sim_granularity: 0.05
+ dwa: true
+ vx_samples: 3
+ vtheta_samples: 20
+ max_vel_x: 0.65
+ min_vel_x: 0.1
+ max_vel_th: 1.0
+ min_vel_th: -1.0
+ min_in_place_vel_th: 0.4
+ xy_goal_tolerance: 0.1
+ yaw_goal_tolerance: 0.05
+ goal_distance_bias: 0.8
+ path_distance_bias: 0.6
+ occdist_scale: 0.05
+ heading_lookahead: 0.325
+ oscillation_reset_dist: 0.05
+ acc_limit_th: 3.2
+ acc_limit_x: 2.5
+ acc_limit_y: 2.5
+ heading_scoring: false
+ heading_scoring_timestep: 0.8
+ holonomic_robot: true
+ simple_attractor: false
Added: pkg/trunk/demos/erratic_gazebo/costmap_common_params.yaml
===================================================================
--- pkg/trunk/demos/erratic_gazebo/costmap_common_params.yaml (rev 0)
+++ pkg/trunk/demos/erratic_gazebo/costmap_common_params.yaml 2009-05-09 02:36:16 UTC (rev 15146)
@@ -0,0 +1,18 @@
+costmap:
+ transform_tolerance: 0.2
+ obstacle_range: 2.5
+ max_obstacle_height: 2.0
+ raytrace_range: 3.0
+ inscribed_radius: 0.325
+ circumscribed_radius: 0.46
+ inflation_radius: 0.55
+ cost_scaling_factor: 25.0
+ lethal_cost_threshold: 100
+
+ observation_topics: base_scan_marking base_scan
+
+ base_scan_marking: {sensor_frame: base_laser, data_type: PointCloud, expected_update_rate: 0.2,
+ observation_persistance: 0.0, marking: true, clearing: false, min_obstacle_height: 0.08, max_obstalce_height: 2.0}
+
+ base_scan: {sensor_frame: base_laser, data_type: LaserScan, expected_update_rate: 0.2,
+ observation_persistance: 0.0, marking: false, clearing: true, min_obstacle_height: 0.08, max_obstalce_height: 2.0}
Added: pkg/trunk/demos/erratic_gazebo/navfn_params.yaml
===================================================================
--- pkg/trunk/demos/erratic_gazebo/navfn_params.yaml (rev 0)
+++ pkg/trunk/demos/erratic_gazebo/navfn_params.yaml 2009-05-09 02:36:16 UTC (rev 15146)
@@ -0,0 +1,10 @@
+navfn:
+ transform_tolerance: 0.2
+ #Independent settings for the planner's costmap
+ costmap:
+ global_frame: map
+ robot_base_frame: base_link
+ update_frequency: 5.0
+ publish_frequency: 0.0
+ static_map: true
+ rolling_window: false
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