Hi Eitan,
I have successfully converted and changed to using the navigation_stage
package. But the robot still tend to turn in cycle when reaching the goal
though sometime it will stop at the goal.
Below is my config for the simulation.
===============================================================
FOR STAGE
------------------------map.world format------------------------------
include "map.inc"
include "p3dx.inc"
# set the resolution of the underlying raytrace model in meters
resolution 0.02
# simulation timestep in milliseconds
interval_sim 100
# real-time interval between simulation updates in milliseconds
interval_real 100
# configure the GUI window
window
(
size [800 1000] # in pixels
scale 20 # pixels per meter
show_data 1 # 1=on 0=false
)
# load an environment bitmap
floorplan
(
name "worldmap"
bitmap "map.jpg"
size [28 52 2.6]
pose [14 26 0 0]
)
# throw in a robot
p3dx ( pose [6 14 0 0] name "p3dx" color "blue")
--------------------------map.yaml-------------------------------------------
image: map.jpg
resolution: 0.05
origin: [0.000000, 0.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
FOR MOVE_BASE
--------------------------------------------amcl_node.xml-------------------------------------
----------------------base_local_planner.yaml---------------------------------------------
#base_local_planner: "dwa_local_planner/DWAPlannerROS"
#
#DWAPlannerROS:
# min_vel_x: -0.5
# min_trans_vel: 0.1
#
TrajectoryPlannerROS:
#Independent settings for the local costmap
sim_time: 1.7
sim_granularity: 0.025
dwa: true
vx_samples: 3
vtheta_samples: 20
max_vel_x: 1.25
min_vel_x: 0.2
max_rotational_vel: 1.0
min_in_place_rotational_vel: 0.4
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.15
goal_distance_bias: 0.8
path_distance_bias: 0.6
occdist_scale: 0.5
heading_lookahead: 0.325
oscillation_reset_dist: 0.05
holonomic_robot: false
acc_lim_th: 0.55
acc_lim_x: 0.55
acc_lim_y: 0.55
backup_vel: -.5
---------------------------------------costmap_common_params.yaml---------------------------
#START VOXEL STUFF
map_type: voxel
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 9
mark_threshold: 0
#END VOXEL STUFF
transform_tolerance: 0.3
max_obstacle_height: 1.7
#footprint: [[-0.4, -0.4], [-0.4, 0.4], [0.4, 0.4], [0.52, 0.0], [0.4,
-0.4]]
#footprint: [[-0.2 0.12], [-0.2 -0.12], [-0.12 -0.2555], [0.12 -0.2555],
[0.2 -0.12], [0.2 0.12], [0.12 0.2555], [-0.12 0.2555]]
#foorprint: [[-0.12 0.2555], [0.12 0.2555], [0.2 0.12], [0.2 -0.12], [0.12
-0.2555], [-0.12 -0.2555], [-0.2 -0.12], [-0.2 0.12]]
footprint: [[-0.2555, -0.12],[-0.2555, 0.12],[-0.12, 0.2],[0.12, 0.2],
[0.2555, 0.12],[0.2555, -0.12],[0.12, -0.2],[-0.12, -0.2]]
#robot_radius: 0.46
footprint_padding: 0.01
inflation_radius: 0.25
cost_scaling_factor: 10.0
lethal_cost_threshold: 100
observation_sources: base_scan
base_scan: {data_type: LaserScan, expected_update_rate: 0.4,
observation_persistence: 0.0, marking: true, clearing: true,
max_obstacle_height: 1.7, min_obstacle_height: 0.08, obstacle_range: 5.5,
raytrace_range: 6.0}
-----------------------------------------global_costmap_params.yaml------------------------------------
#Independent settings for the planner's costmap
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 0.0
static_map: true
rolling_window: false
------------------------------------------local_costmap_params.yaml----------------------------------
local_costmap:
publish_voxel_map: true
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 27.355
height: 52.56
resolution: 0.05
origin_x: 0.0
origin_y: 0.0
-----------------------------------------move_base.xml-----------------------------------------------------
--------------------------------------------------nav_view.xml--------------------------------------
------------------------------------- MY LAUNCH FILE
--------------------------------------------
===============================================================
I tried change the trajectory planner goal tolerance but still won't work.
Any suggestions and idea? Sorry for the long post.
Thanks for helping. =D
Best Regards,
Ian_wk
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