个人笔记之move_base

local_costmap_params.yaml

local_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0 #代价地图发布可视化信息的频率
  static_map: false #本地代价地图会不断的更新地图，所以这里设置为false
  rolling_window: true #设置滚动窗口，使得机器人始终在窗体中心位置
  width: 5.0 #代价地图的宽度
  height: 5.0 #代价地图的长度
  resolution: 0.05 #代价地图的分辨率

base_local_planner_params.yaml

controller_frequency: 15
planner_frequency: 1
recovery_behavior_enabled: true
clearing_rotation_allowed: true

TrajectoryPlannerROS:
  acc_lim_theta: 1.0
  acc_lim_x: 1.0
  acc_lim_y: 0.0              
  max_vel_x: 0.35
  min_vel_x: 0.15
  max_vel_theta: 0.6
  min_vel_theta: -0.6
  min_in_place_vel_theta: 0.5
  meter_scoring: true
  holonomic_robot: false
  escape_vel: -0.2
  dwa: true #Whether to use the Dynamic Window Approach (DWA)_ or whether to use Trajectory Rollout
  # Goal Tolerance Parameters 目标点的误差参数
  yaw_goal_tolerance: 0.1  # in rads
  xy_goal_tolerance: 0.2  # in meters
  latch_xy_goal_tolerance: yes
  
  # Forward Simulation Parameters
    # these parameters change how the planner simulates trajectories at each update and therefore changes the optimal trajectory that is chosen
这些参数改变了规划器在每次更新时模拟轨迹的方式
    # These should be adjusted based on your computer performance应该基于电脑性能调整
  sim_time: 2.0   # setting time of each simulation that it must evaluate. Higher will create longer curves but too low can limit performance (<2)
  sim_granularity: 0.02 # the step size to take between points on a trajectory, or how frequent should the points on this trajectory should be examined  两点之间的步长
  angular_sim_granularity: 0.02
  vx_samples: 10  # how many samples of x velocity are taken for simulated trajectories
  vtheta_samples: 30 # how many samples of theta velocity are taken for simulated trajectories
  controller_frequency: 1.0  # how often the planning algorithm is performed (hz)

  # 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:  0.1 #The weighting for how much the controller should attempt to avoid obstacles. default 0.01  避开障碍物的权重 
  pdist_scale: 0.5  #     The weighting for how much the controller should stay close to the path it was given . default 0.6  靠近路径的权重
  gdist_scale: 1.0 #     The weighting for how much the controller should attempt to reach its local goal, also controls speed  default 0.8 靠近局部目标的权重

  heading_lookahead: 0.325  #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: 0.8   #How far to look ahead in time in seconds along the simulated trajectory when using heading scoring (double, default: 0.8)
  simple_attractor: false
  publish_cost_grid_pc: true  

  # Oscillation Prevention Parameters
  oscillation_reset_dist: 0.25 #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

costmap_common_params.yaml

map_type: costmap
obstacle_range: 2.5 #最大障碍物检测范围
raytrace_range: 3.0 #检测自由空间的最大范围
footprint: [[-0.35,-0.325],[-0.35,0.325], [0.35, 0.325],[0.375, 0], [0.35,-0.325]] #设置机器的在坐标系内所占用的面积
#robot_radius: ir_of_robot
footprint_padding: 0.1
inflation_radius: 0.3  # controls how far away the zero cost point is from the obstacle
#cost_scaling_factor: 10.0
#observation_sources: laser_scan_sensor point_cloud_sensor
observation_sources: laser_scan_sensor #point_cloud_sensor
laser_scan_sensor: {sensor_frame: base_link, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
#point_cloud_sensor: {sensor_frame: base_link, data_type: PointCloud2, topic: zed/point_cloud/cloud_registered, expected_update_rate: 30, observation_persistence: 0.0, marking: true, clearing: false, min_obstacle_height: -0.10, max_obstacle_height: 1.5}
#point_cloud_sensor: {sensor_frame: base_link, data_type: PointCloud2, topic: zed/point_cloud/cloud_registered, expected_update_rate: 0.2, observation_persistence: 0.0, marking: true, clearing: true, min_obstacle_height: 0.15, max_obstacle_height: 1.5}

dwa_local_planner_params.yaml

controller_frequency: 4
planner_frequency: 1
recovery_behavior_enabled: true

DWAPlannerROS: 
  acc_lim_th: 0.3
  acc_lim_x: 0.2 
  acc_lim_y: 0.0 
  max_vel_x: 0.3
  min_vel_x: -0.1
  max_trans_vel: 0.3 
  min_trans_vel: 0.1 
  max_rot_vel: 0.6
  min_rot_vel: 0.4 
  xy_goal_tolerance: 0.05 
  yaw_goal_tolerance: 0.1
  rot_stopped_vel: 0.00
  trans_stopped_vel: 0.00

global_costmap_params.yaml

global_costmap:
  global_frame: map
  #global_frame: odom
  robot_base_frame: base_link
  update_frequency: 2.0
  static_map: true
  #static_map: false
  #rolling_window: true
  #width: 10.0
  #height: 10.0
  #resolution: 0.025
  #origin_x: 0.0
  #origin_y: 0.0