Move to rosbot_navigation inside rosbot_decription/src and create folder name config
cd src/rosbot_description/src/rosbot_navigation
mkdir config
cd config
Create a new file inside config folder called costmap_common_params.yaml
code costmap_common_params.yamlcopy following content to it
footprint: [[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]]
map_type: voxel
obstacle_layer:
enabled: true
obstacle_range: 2.0
raytrace_range: 2.0
min_obstacle_height: 0.0
max_obstacle_height: 0.5
inflation_radius: 0.2
origin_z: 0.0
z_resolution: 0.05
z_voxels: 20
unknown_threshold: 5
mark_threshold: 5
combination_method: 1
map_topic: map
subscribe_to_updates: false
track_unknown_space: true #true needed for disabling global path planning through unknown space
publish_voxel_map: true
observation_sources: pointCloud
pointCloud:
sensor_frame: camera_rgb_frame
data_type: PointCloud2
topic: camera/depth/points
marking: true
clearing: true
max_obstacle_height: 0.5
min_obstacle_height: 0.0
inflation_layer:
enabled: true
cost_scaling_factor: 3.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.25 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
track_unknown_space: trueCreate a new file inside config folder called global_costmap_params.yaml
code global_costmap_params.yamlcopy following content to it
global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 0.5
publish_frequency: 2.0
static_map: true
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}Create a new file inside config folder called local_costmap_params.yaml
code local_costmap_params.yamlcopy following content to it
local_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 2.5
publish_frequency: 2.5
rolling_window: true
width: 3.0
height: 3.0
resolution: 0.05
transform_tolerance: 1.0
always_send_full_costmap: true
plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}Create a new file inside config folder called global_planner_params.yaml
code global_planner_params.yamlcopy following content to it
GlobalPlanner: # Also see: http://wiki.ros.org/global_planner
old_navfn_behavior: false # Exactly mirror behavior of navfn, use defaults for other boolean parameters, default false
use_quadratic: true # Use the quadratic approximation of the potential. Otherwise, use a simpler calculation, default true
use_dijkstra: false # Use dijkstra's algorithm. Otherwise, A*, default true
use_grid_path: true # Create a path that follows the grid boundaries. Otherwise, use a gradient descent method, default false
allow_unknown: true # Allow planner to plan through unknown space, default true
#Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work
planner_window_x: 0.0 # default 0.0
planner_window_y: 0.0 # default 0.0
default_tolerance: 0.1 # If goal in obstacle, plan to the closest point in radius default_tolerance, default 0.0
publish_scale: 100 # Scale by which the published potential gets multiplied, default 100
planner_costmap_publish_frequency: 0.0 # default 0.0
lethal_cost: 253 # default 253
neutral_cost: 66 # default 50
cost_factor: 0.56 # Factor to multiply each cost from costmap by, default 3.0
publish_potential: true # Publish Potential Costmap (this is not like the navfn pointcloud2 potential), default trueCreate a new file inside config folder called teb_local_planner.yaml
code teb_local_planner.yamlcopy following content to it
TebLocalPlannerROS:
odom_topic: odom
map_frame: map
# Trajectory
teb_autosize: true
dt_ref: 0.3
dt_hysteresis: 0.05
global_plan_overwrite_orientation: true
max_global_plan_lookahead_dist: 3.0
feasibility_check_no_poses: 3
# Robot
max_vel_x: 0.1
min_vel_x: 0.05
max_vel_x_backwards: 0.1
max_vel_theta: 2.5
min_vel_theta: -2.5
acc_lim_x: 1.5
acc_lim_theta: 1.0
min_turning_radius: 0.0
footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
type: "polygon"
#radius: 0.2 # for type "circular"
#line_start: [-0.3, 0.0] # for type "line"
#line_end: [0.3, 0.0] # for type "line"
#front_offset: 0.2 # for type "two_circles"
#front_radius: 0.2 # for type "two_circles"
#rear_offset: 0.2 # for type "two_circles"
#rear_radius: 0.2 # for type "two_circles"
vertices: [[0.12, 0.14], [0.12, -0.14], [-0.12, -0.14], [-0.12, 0.14]] # for type "polygon"
# GoalTolerance
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.1
free_goal_vel: false
# Obstacles
min_obstacle_dist: 0.25
include_costmap_obstacles: true
costmap_obstacles_behind_robot_dist: 1.0
obstacle_poses_affected: 30
costmap_converter_plugin: ""
costmap_converter_spin_thread: true
costmap_converter_rate: 5
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: true
optimization_verbose: false
penalty_epsilon: 0.09
weight_max_vel_x: 2
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1
weight_obstacle: 10
weight_dynamic_obstacle: 10 # not in use yet
selection_alternative_time_cost: false # not in use yet
# Homotopy Class Planner
enable_homotopy_class_planning: false #True
enable_multithreading: true
simple_exploration: false
max_number_classes: 4
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_keypoint_offset: 0.1
obstacle_heading_threshold: 0.45
visualize_hc_graph: falseCreate a new file inside config folder called move_base_params.yaml
code move_base_params.yamlcopy following content to it
shutdown_costmaps: false
controller_frequency: 0.5
controller_patience: 15.0
planner_frequency: 0.0
planner_patience: 5.0
oscillation_timeout: 5.0
oscillation_distance: 0.2
base_local_planner: "teb_local_planner/TebLocalPlannerROS"
base_global_planner: "global_planner/GlobalPlanner"
clearing_rotation_allowed: true
max_planning_retries: 5Create a new file inside launch folder called navigation_demo.launch
cd ..
cd launchcode navigation_demo.launchcopy following content to it
<?xml version="1.0"?>
<launch>
<master auto="start"/>
<arg name="odom_frame_id" default="odom"/>
<arg name="base_frame_id" default="base_link"/>
<arg name="global_frame_id" default="map"/>
<arg name="odom_topic" default="odom" />
<arg name="laser_topic" default="scan" />
<node pkg="tf" type="static_transform_publisher" name="odom_to_map" args="0 0 0 0 0 0 /map /odom 100"/>
<!-- Map server -->
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" output="screen">
<param name="resolution" value="0.01" />
<param name="frame_id" type="string" value="/odom" />
<param name="sensor_model/max_range" value="2.0" />
<param name="latch" value="true" />
<remap from="cloud_in" to="/camera/depth/points" />
<remap from="projected_map" to="map" />
</node>
<!-- Move base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find rosbot_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rosbot_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rosbot_navigation)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rosbot_navigation)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rosbot_navigation)/config/teb_local_planner.yaml" command="load" />
<rosparam file="$(find rosbot_navigation)/config/global_planner_params.yaml" command="load" />
<rosparam file="$(find rosbot_navigation)/config/move_base_params.yaml" command="load" />
<remap from="cmd_vel" to="cmd_vel"/>
<remap from="odom" to="odom"/>
<remap from="scan" to="/scan"/>
<param name="move_base/DWAPlannerROS/yaw_goal_tolerance" value="1.0"/>
<param name="move_base/DWAPlannerROS/xy_goal_tolerance" value="1.0"/>
</node>
</launch>