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Replace DWA Planner with Trajectory Planner #257

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Merged
Myzhar merged 1 commit into from
Aug 21, 2018
Merged

Replace DWA Planner with Trajectory Planner #257

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4 changes: 3 additions & 1 deletion zed_navigation_tutorial/launch/includes/move_base.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
<rosparam file="$(find zed_navigation_tutorial)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find zed_navigation_tutorial)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find zed_navigation_tutorial)/param/dwa_local_planner_params.yaml" command="load" />
<rosparam file="$(find zed_navigation_tutorial)/param/trajectory_planner_params.yaml" command="load" />
<rosparam file="$(find zed_navigation_tutorial)/param/move_base_params.yaml" command="load" />
<rosparam file="$(find zed_navigation_tutorial)/param/global_planner_params.yaml" command="load" />
<rosparam file="$(find zed_navigation_tutorial)/param/navfn_global_planner_params.yaml" command="load" />
Expand All @@ -29,7 +30,8 @@
<!--param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/-->
<!--param name="local_costmap/global_frame" value="$(arg global_frame_id)"/-->
<!--param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/-->
<param name="DWAPlannerROS/global_frame_id" value="$(arg global_frame_id)"/>
<!--<param name="DWAPlannerROS/global_frame_id" value="$(arg global_frame_id)"/>-->
<param name="TrajectoryPlannerROS/global_frame_id" value="$(arg global_frame_id)"/>

<remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
<remap from="odom" to="$(arg odom_topic)"/>
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2 changes: 1 addition & 1 deletion zed_navigation_tutorial/param/move_base_params.yaml
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Expand Up @@ -15,7 +15,7 @@ oscillation_timeout: 10.0
oscillation_distance: 0.2

# local planner - default is trajectory rollout
base_local_planner: "dwa_local_planner/DWAPlannerROS"
#base_local_planner: "dwa_local_planner/DWAPlannerROS"

base_global_planner: "navfn/NavfnROS" #alternatives: global_planner/GlobalPlanner, carrot_planner/CarrotPlanner

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16 changes: 16 additions & 0 deletions zed_navigation_tutorial/param/trajectory_planner_params.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
TrajectoryPlannerROS:
max_vel_x: 0.5
min_vel_x: 0.1
max_vel_theta: 0.25
min_in_place_vel_theta: 0.4

acc_lim_theta: 0.25
acc_lim_x: 2.5
acc_lim_Y: 2.5

holonomic_robot: false

meter_scoring: true

xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.2
8 changes: 4 additions & 4 deletions zed_navigation_tutorial/rviz/navigation.rviz
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Expand Up @@ -204,7 +204,7 @@ Visualization Manager:
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: move_base/DWAPlannerROS/global_plan
Topic: move_base/TrajectoryPlannerROS/global_plan
Unreliable: false
Value: true
- Class: rviz/Marker
Expand Down Expand Up @@ -249,7 +249,7 @@ Visualization Manager:
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Topic: move_base/DWAPlannerROS/local_plan
Topic: move_base/TrajectoryPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 0.800000012
Expand Down Expand Up @@ -277,7 +277,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.0399999991
Style: Flat Squares
Topic: move_base/DWAPlannerROS/cost_cloud
Topic: move_base/TrajectoryPlannerROS/cost_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Expand Down Expand Up @@ -307,7 +307,7 @@ Visualization Manager:
Size (Pixels): 3
Size (m): 0.0399999991
Style: Flat Squares
Topic: move_base/DWAPlannerROS/trajectory_cloud
Topic: /zed/map/loc_map_height_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: false
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