ROS - teb_local_planner 参数总结

参考官方教程 http://wiki.ros.org/teb_local_planner/Tutorials, 全英文看着有点累, 在此总结一下调试的过程和小小的经验

安装 teb_local_planner

sudo apt-get install ros-kinetic-teb-local-planner
sudo apt-get install ros-kinetic-teb-local-planner-tutorials

观察单个轨迹的仿真

主要是观察参数对于路径规划上的影响
启动节点 和 rviz

rosparam set /test_optim_node/enable_homotopy_class_planning True
roslaunch teb_local_planner test_optim_node.launch

启动参数调节器
这里可以观察参数的对于路径规划上的影响.

rosrun rqt_reconfigure rqt_reconfigure

不同机器人FootPrint 的仿真

两轮差速 机器人的仿真

roslaunch teb_local_planner_tutorials robot_diff_drive_in_stage.launch 

启动参数调节器

rosrun rqt_reconfigure rqt_reconfigure

汽车模型机器人

roslaunch teb_local_planner_tutorials robot_carlike_in_stage.launch 

TEB 的参数调试

参数	类型	含义	最小	默认	最大
teb_autosize	bool	优化期间允许改变轨迹的时域长度；Enable the automatic resizing of the trajectory during optimization (based on the temporal resolution of the trajectory, recommended)	False	True	True
dt_ref	double	局部路径规划的解析度; Temporal resolution of the planned trajectory (usually it is set to the magnitude of the 1/control_rate)	0.01	0.3	1.0
dt_hysteresis	double	允许改变的时域解析度的浮动范围， 一般为 dt_ref 的 10% 左右; Hysteresis that is utilized for automatic resizing depending on the current temporal resolution (dt): usually 10% of dt_ref	0.002	0.1	0.5
global_plan_overwrite_orientation	bool	覆盖全局路径中局部路径点的朝向，Some global planners are not considering the orientation at local subgoals between start and global goal, therefore determine it automatically	False	True	True
allow_init_with_backwards_motion	bool	允许在开始时想后退来执行轨迹，If true, the underlying trajectories might be initialized with backwards motions in case the goal is behind the start within the local costmap (this is only recommended if the robot is equipped with rear sensors)	False	False	True
max_global_plan_lookahead_dist	double	考虑优化的全局计划子集的最大长度（累积欧几里得距离）（如果为0或负数：禁用；长度也受本地Costmap大小的限制）， Specify maximum length (cumulative Euclidean distances) of the subset of the global plan taken into account for optimization [if 0 or negative: disabled; the length is also bounded by the local costmap size ]	0.0	3.0	50.0
force_reinit_new_goal_dist	double	如果上一个目标的间隔超过指定的米数（跳过热启动），则强制规划器重新初始化轨迹，Force the planner to reinitialize the trajectory if a previous goal is updated with a seperation of more than the specified value in meters (skip hot-starting)	0.0	1.0	10.0
feasibility_check_no_poses	int	检测位姿可到达的时间间隔，Specify up to which pose on the predicted plan the feasibility should be checked each sampling interval	0	5	50
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