Hi all,
Below is the configuration for move_base and amcl that I am using on my
robot:
Launch file:
Common costmap params:
map_type: costmap
transform_tolerance: 0.3
obstacle_range: 2.5
max_obstacle_height: 2.0
raytrace_range: 3.0
footprint: [[0.235, 0.075], [0.165, 0.285], [-0.845, 0.285], [-0.915,
0.075], [-0.915, -0.075], [-0.845, -0.285], [0.165, -0.285], [0.235,
-0.075]]
footprint_padding: 0.05
#Cost function parameters
inflation_radius: 0.55
#The cost at which a cell is considered an obstacle when a map is read from
the map_server
lethal_cost_threshold: 10
#Configuration for the sensors that the costmap will use to update a map
observation_sources: scan scan_filtered
scan: {data_type: LaserScan, expected_update_rate: 0.4,
observation_persistence: 0.0, marking: true, clearing: false,
max_obstacle_height: 0.4, min_obstacle_height: 0.08}
scan_filtered: {data_type: LaserScan, expected_update_rate: 0.4,
observation_persistence: 0.0, marking: false, clearing: true,
max_obstacle_height: 0.4, min_obstacle_height: 0.08}
Global costmap params:
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
static_map: true
Local costmap params:
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
base_local_planner params:
TrajectoryPlannerROS:
#Set the acceleration limits of the robot
acc_lim_th: 3.0
acc_lim_x: 0.7
acc_lim_y: 0.0
#Set the velocity limits of the robot
max_vel_x: 0.5
min_vel_x: 0.2
max_rotational_vel: 0.4
min_in_place_rotational_vel: 0.3
backup_vel: -0.1
holonomic_robot: false
#Set the tolerance on achieving a goal
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.05
#We'll configure how long and with what granularity we'll forward simulate
trajectories
sim_time: 1.0
sim_granularity: 0.025
vx_samples: 5
vtheta_samples: 8
#Parameters for scoring trajectories
goal_distance_bias: 1.0
path_distance_bias: 7.0
occdist_scale: 0.0001
heading_scoring: true #false #true
heading_lookahead: 0.325
dwa: true
oscillation_reset_dist: 0.05
prune_plan: true
amcl params:
Output from tf_monitor:
RESULTS: for all Frames
Frames:
Frame: /back_laser published by /myRobotDrive Average Delay: 0.000967104 Max
Delay: 0.0118755
Frame: /base_link published by /myRobotDrive Average Delay: 0.000975577 Max
Delay: 0.0104565
Frame: /front_laser published by /myRobotDrive Average Delay: 0.0012427 Max
Delay: 0.0128218
Frame: /odom published by /amcl Average Delay: -0.0140583 Max Delay:
0.282411
All Broadcasters:
Node: /amcl 20.1061 Hz, Average Delay: -0.0140583 Max Delay: 0.282411
Node: /myRobotDrive 44.8557 Hz, Average Delay: 0.00106694 Max Delay:
0.0128218
If anyone sees something out of place that may be causing my problems,
please let me know.
Thanks!
-Zac
--
View this message in context: http://ros-users.122217.n3.nabble.com/Costmap2DROS-timeouts-and-poor-amcl-performance-tp2112835p2115821.html
Sent from the ROS-Users mailing list archive at Nabble.com.