ros navigation costmap 配置进阶版

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最新推荐文章于 2023-11-01 20:08:15 发布

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本文链接：https://blog.csdn.net/qdwwzlt/article/details/109810895

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ros navigation costmap 配置进阶版

1. common configuration (global_costmap & local_costmap)

costmap_common_params.yaml

2. global configuration (global_costmap)

global_costmap_params.yaml

3. local configuration (local_costmap)

local_costmap_params.yaml

4. controller configuration

move_base_params.yaml

shutdown_costmaps: false
# 控制器频率
controller_frequency: 10.0
# 失效等待时间 10s
controller_patience: 10.0
planner_frequency: 2.0
planner_patience: 20.0
oscillation_timeout: 0.0
# 震荡距离
oscillation_distance: 0.5  
recovery_behavior_enabled: false
clearing_rotation_allowed: true

ros navigation 规划器配置问题

规划器根据上面的全局地图和局部地图，需要分别配置全局规划器和局部规划器。

局部规划器

局部规划器是在全局规划器的基础上，计算机器人运行所需的线速度角速度。

base_local_planner_params.yaml

配置TrajectoryPlannerROS

TrajectoryPlannerROS:

  # Robot Configuration Parameters
  acc_lim_x: 10.0 # default 10
  acc_lim_theta: 30.0 # default 20

  max_vel_x: 0.5
  min_vel_x: 0.1

  max_vel_theta: 1.57 # default 1.57
  min_vel_theta: -1.57 # default -1.57
  min_in_place_vel_theta: 0.314

  holonomic_robot: false
  escape_vel: -0.5

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 3.14 # We don't care about orientation
  xy_goal_tolerance: 0.25 # default 0.25
  latch_xy_goal_tolerance: false

  # Forward Simulation Parameters
  sim_time: 1.0 # default 2.0 ----> (xy_goal_tolerance / 2) > (min_vel_x *  sim_time)
  sim_granularity: 0.02
  angular_sim_granularity: 0.02
  vx_samples: 20 # default 6
  vtheta_samples: 40
  controller_frequency: 10.0

  # Trajectory scoring parameters
  meter_scoring: true # Whether the gdist_scale and pdist_scale parameters should assume that goal_distance and path_distance are expressed in units of meters or cells. Cells are assumed by default (false).
  occdist_scale:  0.01 # The weighting for how much the controller should attempt to avoid obstacles. default 0.01
  pdist_scale: 5.0  # The weighting for how much the controller should stay close to the path it was given . default 0.6, maximal possible value is 5.0
  gdist_scale: 0.1 # The weighting for how much the controller should attempt to reach its local goal, also controls speed  default 0.8, maximal possible value is 5.0

  heading_lookahead: 0.1  #How far to look ahead in meters when scoring different in-place-rotation trajectories
  heading_scoring: false  #Whether to score based on the robot's heading to the path or its distance from the path. default false
  heading_scoring_timestep: 0.1   #How far to look ahead in time in seconds along the simulated trajectory when using heading scoring (double, default: 0.8)
  dwa: false #Whether to use the Dynamic Window Approach (DWA)_ or whether to use Trajectory Rollout
  simple_attractor: false
  publish_cost_grid_pc: true

  #Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05 #How far the robot must travel in meters before oscillation flags are reset (double, default: 0.05)
  escape_reset_dist: 0.1
  escape_reset_theta: 0.1

dwa_local_planner_params.yaml

配置DWAPlannerROS

DWAPlannerROS: 
  acc_lim_th: 10
  acc_lim_x: 10
  acc_lim_y: 0 
  max_vel_x: 0.5
  min_vel_x: 0.1 
  max_vel_y: 0.0
  min_vel_y: -0.0 
  max_trans_vel: 2.0
  min_trans_vel: 0.1
  max_rot_vel: 1.0
  min_rot_vel: -1.0
  sim_time: 1.7 
  sim_granularity: 0.025 
  goal_distance_bias: 1.0 
  path_distance_bias: 24.0 
  occdist_scale: 0.1 
  stop_time_buffer: 0.2 
  oscillation_reset_dist: 0.05 
  forward_point_distance: 0.325 
  scaling_speed: 0.25 
  max_scaling_factor: 0.2 
  vx_samples: 10
  vy_samples: 0 
  vtheta_samples: 20 
  sim_period: 0.1 
  controller_frequency: 20
  xy_goal_tolerance: 0.5
  yaw_goal_tolerance: 3.14
  rot_stopped_vel: 0.01 
  trans_stopped_vel: 0.01

全局规划器

base_global_planner_params.yaml

GlobalPlanner

GlobalPlanner:
  lethal_cost : 253
  neutral_cost : 50
  cost_factor : 3.0
  publish_potential : true

carrot_planner_params.yaml

CarrotPlanner

CarrotPlanner:
  min_dist_from_robot : 0.10

ros navigation move_base 节点 launch 文件

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <!-- 地图参数 -->
    <rosparam file="$(find navi_pkg)/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
     <!-- ns  就是namespace 一定要配置正确，否则找不到对应的规划器  -->
    <rosparam file="$(find navi_pkg)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find navi_pkg)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find navi_pkg)/global_costmap_params.yaml" command="load" /> 

     
    <!-- 规划器参数  选择自己使用的一组全局和局部即可 -->
    <rosparam file="$(find navi_pkg)/base_global_planner_params.yaml" command="load" />
    <rosparam file="$(find navi_pkg)/carrot_planner_params.yaml" command="load" />


    <rosparam file="$(find navi_pkg)/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find navi_pkg)/dwa_local_planner_params.yaml" command="load" />
    <rosparam file="$(find navi_pkg)/move_base_params.yaml" command="load" />

      <!--加载以上配置的yaml 文件  -->
    

     <!--A1配置全局规划器  CarrotPlanner  目标点可在障碍物中-->
    <param name="base_global_planner" value="carrot_planner/CarrotPlanner" />

     <!--A2配置全局规划器  GlobalPlanner  Dijkstras or A* -->
    <param name="base_global_planner" value="global_planner/GlobalPlanner" />

    <!--A3配置全局规划器  NavfnROS   Dijkstra -->
    <param name="base_global_planner" value="navfn/NavfnROS" />




    <!--B1配置局部规划器  TrajectoryPlannerROS   DWA or Trajectory Rollout -->
    <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/>
    
    <!--B2配置局部规划器  DWAPlannerROS  DWA-->
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>


 </node>

配置主要看插件文件比如