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48
Controllers/Packages/amr_startup/config/base_local_planner_params.yaml Normal file
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#For full documentation of the parameters in this file, and a list of all the
#parameters available for TrajectoryPlannerROS, please see
#http://www.ros.org/wiki/base_local_planner
TrajectoryPlannerROS:
#Set the acceleration limits of the robot
acc_lim_th: 3.2
acc_lim_x: 0.5
acc_lim_y: 0.5
#Set the velocity limits of the robot
max_vel_x: 0.4
min_vel_x: 0.1
max_rotational_vel: 1.0
min_in_place_rotational_vel: 0.4
#The velocity the robot will command when trying to escape from a stuck situation
escape_vel: -0.2
#For this example, we'll use a holonomic robot
holonomic_robot: false
#Since we're using a holonomic robot, we'll set the set of y velocities it will sample
y_vels: [-0.3, -0.1, 0.1, 0.3]
#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: 3.0
sim_granularity: 0.025
vx_samples: 5
vtheta_samples: 20
#Parameters for scoring trajectories
goal_distance_bias: 0.4
path_distance_bias: 0.7
occdist_scale: 0.3
heading_lookahead: 0.325
#We'll use the Dynamic Window Approach to control instead of Trajectory Rollout for this example
dwa: false
#How far the robot must travel before oscillation flags are reset
oscillation_reset_dist: 0.01
#Eat up the plan as the robot moves along it
prune_plan: false

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Controllers/Packages/amr_startup/config/costmap_common_params.yaml Executable file
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robot_base_frame: base_footprint
transform_tolerance: 1.0
obstacle_range: 3.0
#mark_threshold: 1
publish_voxel_map: true
footprint_padding: 0.0
navigation_map:
map_topic: /map
map_pkg: managerments
map_file: maze
virtual_walls_map:
map_topic: /virtual_walls/map
namespace: /virtual_walls
map_pkg: managerments
map_file: maze
use_maximum: true
lethal_cost_threshold: 100
obstacles:
observation_sources: f_scan_marking f_scan_clearing b_scan_marking b_scan_clearing
f_scan_marking:
topic: /f_scan
data_type: LaserScan
clearing: false
marking: true
inf_is_valid: false
min_obstacle_height: 0.0
max_obstacle_height: 0.25
f_scan_clearing:
topic: /f_scan
data_type: LaserScan
clearing: true
marking: false
inf_is_valid: false
min_obstacle_height: 0.0
max_obstacle_height: 0.25
b_scan_marking:
topic: /b_scan
data_type: LaserScan
clearing: false
marking: true
inf_is_valid: false
min_obstacle_height: 0.0
max_obstacle_height: 0.25
b_scan_clearing:
topic: /b_scan
data_type: LaserScan
clearing: true
marking: false
inf_is_valid: false
min_obstacle_height: 0.0
max_obstacle_height: 0.25

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Controllers/Packages/amr_startup/config/costmap_global_params.yaml Executable file
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global_costmap:
global_frame: map
update_frequency: 1.0
publish_frequency: 1.0
raytrace_range: 2.0
resolution: 0.05
z_resolution: 0.2
rolling_window: false
z_voxels: 10
inflation:
cost_scaling_factor: 10.0 # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius.
inflation_radius: 0.6 # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.

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Controllers/Packages/amr_startup/config/costmap_global_params_plugins_no_virtual_walls.yaml Executable file
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global_costmap:
frame_id: map
plugins:
- {name: navigation_map, type: "costmap_2d::StaticLayer" }
- {name: virtual_walls_map, type: "costmap_2d::StaticLayer" }
- {name: obstacles, type: "costmap_2d::VoxelLayer" }
- {name: inflation, type: "costmap_2d::InflationLayer" }
obstacles:
enabled: false
footprint_clearing_enabled: false

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Controllers/Packages/amr_startup/config/costmap_local_params.yaml Executable file
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local_costmap:
global_frame: odom
update_frequency: 5.0
publish_frequency: 5.0
rolling_window: true
raytrace_range: 2.0
resolution: 0.05
z_resolution: 0.15
z_voxels: 8
inflation:
cost_scaling_factor: 10.0 # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius.
inflation_radius: 0.3 # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
width: 8.0
height: 8.0
origin_x: 0.0
origin_y: 0.0

8
Controllers/Packages/amr_startup/config/costmap_local_params_plugins_no_virtual_walls.yaml Executable file
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local_costmap:
frame_id: odom
plugins:
- {name: obstacles, type: "costmap_2d::VoxelLayer" }
- {name: inflation, type: "costmap_2d::InflationLayer" }
obstacles:
enabled: true
footprint_clearing_enabled: true

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Controllers/Packages/amr_startup/config/custom_global_params.yaml Normal file
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base_global_planner: CustomPlanner
CustomPlanner:
environment_type: XYThetaLattice
planner_type: ARAPlanner
allocated_time: 10.0
initial_epsilon: 1.0
force_scratch_limit: 10000
forward_search: false
nominalvel_mpersecs: 0.8
timetoturn45degsinplace_secs: 1.31 # = 0.6 rad/s
allow_unknown: true
directory_to_save_paths: "/init/paths"
pathway_filename: "pathway.txt"
current_pose_topic_name: "/amcl_pose"
map_frame_id: "map"
base_frame_id: "base_link"

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Controllers/Packages/amr_startup/config/dwa_local_planner_params.yaml Executable file
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base_local_planner: dwa_local_planner/DWAPlannerROS
DWAPlannerROS:
# Robot configuration
max_vel_x: 0.8
min_vel_x: -0.2
max_vel_y: 0.0 # diff drive robot
min_vel_y: 0.0 # diff drive robot
max_trans_vel: 0.8 # choose slightly less than the base's capability
min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity
trans_stopped_vel: 0.03
# Warning!
# do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities
# are non-negligible and small in place rotational velocities will be created.
max_rot_vel: 1.0 # choose slightly less than the base's capability
min_rot_vel: 0.1 # this is the min angular velocity when there is negligible translational velocity
rot_stopped_vel: 0.1
acc_lim_x: 1.5
acc_lim_y: 0.0 # diff drive robot
acc_limit_trans: 1.5
acc_lim_theta: 2.0
# Goal tolerance
yaw_goal_tolerance: 0.03 # yaw_goal_tolerance > (sim_time * min_rot_vel) / 2 (from Navigation Tuning Guide)
xy_goal_tolerance: 0.08 # xy_goal_tolerance > (sim_time * min_vel_x) / 2
latch_xy_goal_tolerance: true
# Forward simulation
sim_time: 1.2
vx_samples: 15
vy_samples: 1 # diff drive robot, there is only one sample
vtheta_samples: 20
# Trajectory scoring
path_distance_bias: 64.0 # default: 32.0 mir: 32.0 - weighting for how much it should stick to the global path plan
goal_distance_bias: 12.0 # default: 24.0 mir: 48.0 - weighting for how much it should attempt to reach its goal
occdist_scale: 0.5 # default: 0.01 mir: 0.01 - weighting for how much the controller should avoid obstacles
forward_point_distance: 0.325 # default: 0.325 mir: 0.325 - how far along to place an additional scoring point
stop_time_buffer: 0.2 # default: 0.2 mir: 0.2 - amount of time a robot must stop before colliding for a valid traj.
scaling_speed: 0.25 # default: 0.25 mir: 0.25 - absolute velocity at which to start scaling the robot's footprint
max_scaling_factor: 0.2 # default: 0.2 mir: 0.2 - how much to scale the robot's footprint when at speed.
prune_plan: true
# Oscillation prevention
oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags, in m
oscillation_reset_angle: 0.2 # 0.2 - the angle the robot must turn before resetting Oscillation flags, in rad
# Debugging
publish_traj_pc : true
publish_cost_grid_pc: true
global_frame_id: /odom # or <robot namespace>/odom

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Controllers/Packages/amr_startup/config/ekf.yaml Executable file
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# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin
# computation until it receives at least one message from one of the inputs. It will then run continuously at the
# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified.
frequency: 50
# The period, in seconds, after which we consider a sensor to have timed out. In this event, we carry out a predict
# cycle on the EKF without correcting it. This parameter can be thought of as the minimum frequency with which the
# filter will generate new output. Defaults to 1 / frequency if not specified.
sensor_timeout: 0.1
# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is
# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar
# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected
# by, for example, an IMU. Defaults to false if unspecified.
two_d_mode: true
# Use this parameter to provide an offset to the transform generated by ekf_localization_node. This can be used for
# future dating the transform, which is required for interaction with some other packages. Defaults to 0.0 if
# unspecified.
transform_time_offset: 0.0
# Use this parameter to specify how long the tf listener should wait for a transform to become available.
# Defaults to 0.0 if unspecified.
transform_timeout: 0.0
# If you're having trouble, try setting this to true, and then echo the /diagnostics_agg topic to see if the node is
# unhappy with any settings or data.
print_diagnostics: true
# Debug settings. Not for the faint of heart. Outputs a ludicrous amount of information to the file specified by
# debug_out_file. I hope you like matrices! Please note that setting this to true will have strongly deleterious
# effects on the performance of the node. Defaults to false if unspecified.
debug: false
# Defaults to "robot_localization_debug.txt" if unspecified. Please specify the full path.
debug_out_file: /path/to/debug/file.txt
# Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified.
publish_tf: true
# Whether to publish the acceleration state. Defaults to false if unspecified.
publish_acceleration: false
# REP-105 (http://www.ros.org/reps/rep-0105.html) specifies four principal coordinate frames: base_link, odom, map, and
# earth. base_link is the coordinate frame that is affixed to the robot. Both odom and map are world-fixed frames.
# The robot's position in the odom frame will drift over time, but is accurate in the short term and should be
# continuous. The odom frame is therefore the best frame for executing local motion plans. The map frame, like the odom
# frame, is a world-fixed coordinate frame, and while it contains the most globally accurate position estimate for your
# robot, it is subject to discrete jumps, e.g., due to the fusion of GPS data or a correction from a map-based
# localization node. The earth frame is used to relate multiple map frames by giving them a common reference frame.
# ekf_localization_node and ukf_localization_node are not concerned with the earth frame.
# Here is how to use the following settings:
# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system.
# 1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of
# odom_frame.
# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set
# "world_frame" to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes.
# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates
# from landmark observations) then:
# 3a. Set your "world_frame" to your map_frame value
# 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state
# estimation node from robot_localization! However, that instance should *not* fuse the global data.
map_frame: map # Defaults to "map" if unspecified
odom_frame: $(arg tf_prefix)odom # Defaults to "odom" if unspecified
base_link_frame: $(arg tf_prefix)base_footprint # Defaults to "base_link" if unspecified
world_frame: $(arg tf_prefix)odom # Defaults to the value of odom_frame if unspecified
# The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry,
# geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/TwistWithCovarianceStamped,
# sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0,
# odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These parameters obviously have no
# default values, and must be specified.
odom0: odom
# Each sensor reading updates some or all of the filter's state. These options give you greater control over which
# values from each measurement are fed to the filter. For example, if you have an odometry message as input, but only
# want to use its Z position value, then set the entire vector to false, except for the third entry. The order of the
# values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some message types
# do not provide some of the state variables estimated by the filter. For example, a TwistWithCovarianceStamped message
# has no pose information, so the first six values would be meaningless in that case. Each vector defaults to all false
# if unspecified, effectively making this parameter required for each sensor.
# see http://docs.ros.org/melodic/api/robot_localization/html/configuring_robot_localization.html
odom0_config: [false, false, false, # x y z
false, false, false, # roll pitch yaw
true, true, false, # vx vy vz
false, false, true, # vroll vpitch vyaw
false, false, false] # ax ay az
# If you have high-frequency data or are running with a low frequency parameter value, then you may want to increase
# the size of the subscription queue so that more measurements are fused.
odom0_queue_size: 10
# [ADVANCED] Large messages in ROS can exhibit strange behavior when they arrive at a high frequency. This is a result
# of Nagle's algorithm. This option tells the ROS subscriber to use the tcpNoDelay option, which disables Nagle's
# algorithm.
odom0_nodelay: false
# [ADVANCED] When measuring one pose variable with two sensors, a situation can arise in which both sensors under-
# report their covariances. This can lead to the filter rapidly jumping back and forth between each measurement as they
# arrive. In these cases, it often makes sense to (a) correct the measurement covariances, or (b) if velocity is also
# measured by one of the sensors, let one sensor measure pose, and the other velocity. However, doing (a) or (b) isn't
# always feasible, and so we expose the differential parameter. When differential mode is enabled, all absolute pose
# data is converted to velocity data by differentiating the absolute pose measurements. These velocities are then
# integrated as usual. NOTE: this only applies to sensors that provide pose measurements; setting differential to true
# for twist measurements has no effect.
odom0_differential: false
# [ADVANCED] When the node starts, if this parameter is true, then the first measurement is treated as a "zero point"
# for all future measurements. While you can achieve the same effect with the differential paremeter, the key
# difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before
# integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true.
odom0_relative: false
# [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to
# control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to
# numeric_limits<double>::max() if unspecified. It is strongly recommended that these parameters be removed if not
# required. Data is specified at the level of pose and twist variables, rather than for each variable in isolation.
# For messages that have both pose and twist data, the parameter specifies to which part of the message we are applying
# the thresholds.
#odom0_pose_rejection_threshold: 5
#odom0_twist_rejection_threshold: 1
# Further input parameter examples
# see http://docs.ros.org/melodic/api/robot_localization/html/configuring_robot_localization.html
imu0: imu_data
imu0_config: [false, false, false, # x y z
false, false, true, # roll pitch yaw
false, false, false, # vx vy vz
false, false, true, # vroll vpitch vyaw
true, false, false] # ax ay az
imu0_nodelay: false
imu0_differential: false
imu0_relative: true
imu0_queue_size: 10
#imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names
#imu0_twist_rejection_threshold: 0.8 #
#imu0_linear_acceleration_rejection_threshold: 0.8 #
# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set
# this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame.
imu0_remove_gravitational_acceleration: false
# [ADVANCED] The EKF and UKF models follow a standard predict/correct cycle. During prediction, if there is no
# acceleration reference, the velocity at time t+1 is simply predicted to be the same as the velocity at time t. During
# correction, this predicted value is fused with the measured value to produce the new velocity estimate. This can be
# problematic, as the final velocity will effectively be a weighted average of the old velocity and the new one. When
# this velocity is the integrated into a new pose, the result can be sluggish covergence. This effect is especially
# noticeable with LIDAR data during rotations. To get around it, users can try inflating the process_noise_covariance
# for the velocity variable in question, or decrease the variance of the variable in question in the measurement
# itself. In addition, users can also take advantage of the control command being issued to the robot at the time we
# make the prediction. If control is used, it will get converted into an acceleration term, which will be used during
# predicition. Note that if an acceleration measurement for the variable in question is available from one of the
# inputs, the control term will be ignored.
# Whether or not we use the control input during predicition. Defaults to false.
use_control: false
# Whether the input (assumed to be cmd_vel) is a geometry_msgs/Twist or geometry_msgs/TwistStamped message. Defaults to
# false.
stamped_control: false
# The last issued control command will be used in prediction for this period. Defaults to 0.2.
control_timeout: 0.2
# Which velocities are being controlled. Order is vx, vy, vz, vroll, vpitch, vyaw.
control_config: [true, false, false, false, false, true]
# Places limits on how large the acceleration term will be. Should match your robot's kinematics.
acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
# Acceleration and deceleration limits are not always the same for robots.
deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
# If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these
# gains
acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
# If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these
# gains
deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]
# [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is
# exposed as a configuration parameter. This matrix represents the noise we add to the total error after each
# prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be.
# However, if users find that a given variable is slow to converge, one approach is to increase the
# process_noise_covariance diagonal value for the variable in question, which will cause the filter's predicted error
# to be larger, which will cause the filter to trust the incoming measurement more during correction. The values are
# ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below if
# unspecified.
process_noise_covariance: [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015]
# [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal
# value (variance) to a large value will result in rapid convergence for initial measurements of the variable in
# question. Users should take care not to use large values for variables that will not be measured directly. The values
# are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below
#if unspecified.
initial_estimate_covariance: [100.0,0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 100.0,0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10.0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10.0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9]

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Controllers/Packages/amr_startup/config/localization.yaml Normal file
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Amcl:
use_map_topic: true
odom_model_type: "diff-corrected"
gui_publish_rate: 5.0
save_pose_rate: 0.5
laser_max_beams: 300
laser_min_range: -1.0
laser_max_range: -1.0
min_particles: 1000
max_particles: 3000
kld_err: 0.05
kld_z: 0.99
odom_alpha1: 0.02
odom_alpha2: 0.01
odom_alpha3: 0.01
odom_alpha4: 0.02
laser_z_hit: 0.5
laser_z_short: 0.05
laser_z_max: 0.05
laser_z_rand: 0.5
laser_sigma_hit: 0.2
laser_lambda_short: 0.1
laser_model_type: "likelihood_field"
laser_likelihood_max_dist: 1.0
update_min_d: 0.05
update_min_a: 0.05
odom_frame_id: odom
base_frame_id: base_footprint
global_frame_id: map
resample_interval: 1
transform_tolerance: 0.2
recovery_alpha_slow: 0.001
recovery_alpha_fast: 0.001
initial_pose_x: 0.0
initial_pose_y: 0.0
initial_pose_a: 0.0

120
Controllers/Packages/amr_startup/config/maker_sources.yaml Normal file
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maker_sources: trolley charger dock_station undock_station
trolley:
plugins:
- {name: 4legs, docking_planner: "DockPlanner", docking_nav: ""}
- {name: qrcode, docking_planner: "TwoPointsPlanner", docking_nav: "" }
4legs:
maker_goal_frame: trolley_goal
footprint: [[0.583,-0.48],[0.583,0.48],[-0.583,0.48],[-0.583,-0.48]]
delay: 2.0
timeout: 60.0
vel_x: 0.1
vel_theta: 0.3
yaw_goal_tolerance: 0.017
xy_goal_tolerance: 0.01
min_lookahead_dist: 0.4
max_lookahead_dist: 1.0
lookahead_time: 1.5
angle_threshold: 0.36
qrcode:
maker_goal_frame: qr_trolley
delay: 2.0
timeout: 60.0
vel_x: 0.05
vel_theta: 0.2
allow_rotate: true
yaw_goal_tolerance: 0.017
xy_goal_tolerance: 0.01
min_lookahead_dist: 0.4
max_lookahead_dist: 1.0
lookahead_time: 1.5
angle_threshold: 0.36
charger:
plugins:
- {name: charger, docking_planner: "DockPlanner", docking_nav: ""}
charger:
maker_goal_frame: charger_goal
footprint: [[0.583,-0.48],[0.583,0.48],[-0.583,0.48],[-0.583,-0.48]]
delay: 2
timeout: 60
vel_x: 0.1
yaw_goal_tolerance: 0.017
xy_goal_tolerance: 0.01
min_lookahead_dist: 0.4
max_lookahead_dist: 1.0
lookahead_time: 1.5
angle_threshold: 0.36
dock_station:
plugins:
- {name: station, docking_planner: "DockPlanner", docking_nav: ""}
station:
maker_goal_frame: dock_station_goal
footprint: [[1.15,-0.55],[1.15,0.55],[-1.15,0.55],[-1.15,-0.55]]
delay: 2
timeout: 60
vel_x: 0.15
vel_theta: 0.3
yaw_goal_tolerance: 0.01
xy_goal_tolerance: 0.01
min_lookahead_dist: 0.4
max_lookahead_dist: 1.0
lookahead_time: 1.5
angle_threshold: 0.36
dock_station_2:
plugins:
- {name: station, docking_planner: "DockPlanner", docking_nav: ""}
station:
maker_goal_frame: dock_station_goal_2
footprint: [[1.15,-0.55],[1.15,0.55],[-1.15,0.55],[-1.15,-0.55]]
delay: 2
timeout: 60
vel_x: 0.15
vel_theta: 0.3
yaw_goal_tolerance: 0.01
xy_goal_tolerance: 0.01
min_lookahead_dist: 0.4
max_lookahead_dist: 1.0
lookahead_time: 1.5
angle_threshold: 0.36
undock_station:
plugins:
- {name: station, docking_planner: "DockPlanner", docking_nav: ""}
- {name: qrcode, docking_planner: "TwoPointsPlanner", docking_nav: "" }
station:
maker_goal_frame: undock_station_goal
footprint: [[0.583,-0.48],[0.583,0.48],[-0.583,0.48],[-0.583,-0.48]]
delay: 2.0
timeout: 60.0
vel_x: 0.15
vel_theta: 0.3
yaw_goal_tolerance: 0.017
xy_goal_tolerance: 0.01
min_lookahead_dist: 0.4
max_lookahead_dist: 1.0
lookahead_time: 1.5
angle_threshold: 0.36
qrcode:
maker_goal_frame: qr_station
delay: 2.0
timeout: 60.0
vel_x: 0.05
vel_theta: 0.2
allow_rotate: true
yaw_goal_tolerance: 0.01
xy_goal_tolerance: 0.01
min_lookahead_dist: 0.4
max_lookahead_dist: 1.0
lookahead_time: 1.5
angle_threshold: 0.36

63
Controllers/Packages/amr_startup/config/mapping.yaml Normal file
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SlamToolBox:
# Plugin params
solver_plugin: solver_plugins::CeresSolver
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
ceres_preconditioner: SCHUR_JACOBI
ceres_trust_strategy: LEVENBERG_MARQUARDT
ceres_dogleg_type: TRADITIONAL_DOGLEG
ceres_loss_function: None
# ROS Parameters
odom_frame: odom
map_frame: map
base_frame: base_link
scan_topic: /scan
mode: mapping #localization
debug_logging: false
throttle_scans: 1
transform_publish_period: 0.02 #if 0 never publishes odometry
map_update_interval: 10.0
resolution: 0.05
max_laser_range: 20.0 #for rastering images
minimum_time_interval: 0.5
transform_timeout: 0.2
tf_buffer_duration: 14400.
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
enable_interactive_mode: true
# General Parameters
use_scan_matching: true
use_scan_barycenter: true
minimum_travel_distance: 0.5
minimum_travel_heading: 0.5
scan_buffer_size: 10
scan_buffer_maximum_scan_distance: 10
link_match_minimum_response_fine: 0.1
link_scan_maximum_distance: 1.5
loop_search_maximum_distance: 3.0
do_loop_closing: true
loop_match_minimum_chain_size: 10
loop_match_maximum_variance_coarse: 3.0
loop_match_minimum_response_coarse: 0.35
loop_match_minimum_response_fine: 0.45
# Correlation Parameters - Correlation Parameters
correlation_search_space_dimension: 0.5
correlation_search_space_resolution: 0.01
correlation_search_space_smear_deviation: 0.1
# Correlation Parameters - Loop Closure Parameters
loop_search_space_dimension: 8.0
loop_search_space_resolution: 0.05
loop_search_space_smear_deviation: 0.03
# Scan Matcher Parameters
distance_variance_penalty: 0.5
angle_variance_penalty: 1.0
fine_search_angle_offset: 0.00349
coarse_search_angle_offset: 0.349
coarse_angle_resolution: 0.0349
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: true

24
Controllers/Packages/amr_startup/config/move_base_common_params.yaml Executable file
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### replanning
controller_frequency: 20.0 # run controller at 15.0 Hz
controller_patience: 0.0 # if the controller failed, clear obstacles and retry; after 15.0 s, abort and replan
planner_frequency: 0.0 # don't continually replan (only when controller failed)
planner_patience: 5.0 # if the first planning attempt failed, abort planning retries after 5.0 s...
max_planning_retries: 5 # ... or after 10 attempts (whichever happens first)
oscillation_timeout: -1.0 # abort controller and trigger recovery behaviors after 30.0 s
oscillation_distance: 1.5
### recovery behaviors
recovery_behavior_enabled: false
recovery_behaviors: [
{name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery},
{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery},
]
conservative_reset:
reset_distance: 3.0 # clear obstacles farther away than 3.0 m
invert_area_to_clear: true
aggressive_reset:
reset_distance: 3.0

106
Controllers/Packages/amr_startup/config/mpc_local_planner_params.yaml Executable file
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base_local_planner: mpc_local_planner/MpcLocalPlannerROS
MpcLocalPlannerROS:
odom_topic: odom
## Robot settings
robot:
type: "unicycle"
unicycle:
max_vel_x: 0.5
max_vel_x_backwards: 0.3
max_vel_theta: 0.3
acc_lim_x: 0.4 # deactive bounds with zero
dec_lim_x: 0.4 # deactive bounds with zero
acc_lim_theta: 0.6 # deactivate bounds with zero
## Footprint model for collision avoidance
footprint_model:
type: "point"
is_footprint_dynamic: False
## Collision avoidance
collision_avoidance:
min_obstacle_dist: 0.5 # Note, this parameter must be chosen w.r.t. the footprint_model
enable_dynamic_obstacles: False
force_inclusion_dist: 0.5
cutoff_dist: 2.0
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.5
collision_check_no_poses: 5
## Planning grid
grid:
type: "fd_grid"
grid_size_ref: 20 # Set horizon length here (T = (grid_size_ref-1) * dt_ref); Note, also check max_global_plan_lookahead_dist
dt_ref: 0.3 # and here the corresponding temporal resolution
xf_fixed: [False, False, False] # Unfix final state -> we use terminal cost below
warm_start: True
collocation_method: "forward_differences"
cost_integration_method: "left_sum"
variable_grid:
enable: False # We want a fixed grid
min_dt: 0.0;
max_dt: 10.0;
grid_adaptation:
enable: True
dt_hyst_ratio: 0.1
min_grid_size: 2
max_grid_size: 50
## Planning options
planning:
objective:
type: "quadratic_form" # minimum_time requires grid/variable_grid/enable=True and grid/xf_fixed set properly
quadratic_form:
state_weights: [2.0, 2.0, 0.25]
control_weights: [0.1, 0.05]
integral_form: False
terminal_cost:
type: "quadratic" # can be "none"
quadratic:
final_state_weights: [10.0, 10.0, 0.5]
terminal_constraint:
type: "none" # can be "none"
l2_ball:
weight_matrix: [1.0, 1.0, 1.0]
radius: 5
## Controller options
controller:
outer_ocp_iterations: 1
xy_goal_tolerance: 0.05
yaw_goal_tolerance: 0.04
global_plan_overwrite_orientation: False
global_plan_prune_distance: 1.5
allow_init_with_backward_motion: True
max_global_plan_lookahead_dist: 1.0 # Check horizon length
force_reinit_new_goal_dist: 1.0
force_reinit_new_goal_angular: 1.57
force_reinit_num_steps: 0
prefer_x_feedback: False
publish_ocp_results: True
## Solver settings
solver:
type: "ipopt"
ipopt:
iterations: 100
max_cpu_time: -1.0
ipopt_numeric_options:
tol: 1e-3
ipopt_string_options:
linear_solver: "mumps"
hessian_approximation: "exact" # exact or limited-memory
lsq_lm:
iterations: 10
weight_init_eq: 2
weight_init_ineq: 2
weight_init_bounds: 2
weight_adapt_factor_eq: 1.5
weight_adapt_factor_ineq: 1.5
weight_adapt_factor_bounds: 1.5
weight_adapt_max_eq: 500
weight_adapt_max_ineq: 500
weight_adapt_max_bounds: 500

280
Controllers/Packages/amr_startup/config/mprim/genmprim_unicycle_highcost_5cm.m Executable file
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% /*
% * Copyright (c) 2008, Maxim Likhachev
% * All rights reserved.
% *
% * Redistribution and use in source and binary forms, with or without
% * modification, are permitted provided that the following conditions are met:
% *
% * * Redistributions of source code must retain the above copyright
% * notice, this list of conditions and the following disclaimer.
% * * Redistributions in binary form must reproduce the above copyright
% * notice, this list of conditions and the following disclaimer in the
% * documentation and/or other materials provided with the distribution.
% * * Neither the name of the Carnegie Mellon University nor the names of its
% * contributors may be used to endorse or promote products derived from
% * this software without specific prior written permission.
% *
% * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
% * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
% * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
% * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
% * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
% * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
% * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
% * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
% * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
% * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% * POSSIBILITY OF SUCH DAMAGE.
% */
function[] = genmprim_unicycle_highcost_5cm(outfilename)
%
%generates motion primitives and saves them into file
%
%written by Maxim Likhachev
%---------------------------------------------------
%
%defines
UNICYCLE_MPRIM_16DEGS = 1;
if UNICYCLE_MPRIM_16DEGS == 1
resolution = 0.05;
numberofangles = 16; %preferably a power of 2, definitely multiple of 8
numberofprimsperangle = 7;
%multipliers (multiplier is used as costmult*cost)
forwardcostmult = 1;
backwardcostmult = 40;
forwardandturncostmult = 2;
sidestepcostmult = 10;
turninplacecostmult = 20;
%note, what is shown x,y,theta changes (not absolute numbers)
%0 degreees
basemprimendpts0_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult
%x aligned with the heading of the robot, angles are positive
%counterclockwise
%0 theta change
basemprimendpts0_c(1,:) = [1 0 0 forwardcostmult];
basemprimendpts0_c(2,:) = [8 0 0 forwardcostmult];
basemprimendpts0_c(3,:) = [-1 0 0 backwardcostmult];
%1/16 theta change
basemprimendpts0_c(4,:) = [8 1 1 forwardandturncostmult];
basemprimendpts0_c(5,:) = [8 -1 -1 forwardandturncostmult];
%turn in place
basemprimendpts0_c(6,:) = [0 0 1 turninplacecostmult];
basemprimendpts0_c(7,:) = [0 0 -1 turninplacecostmult];
%45 degrees
basemprimendpts45_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult (multiplier is used as costmult*cost)
%x aligned with the heading of the robot, angles are positive
%counterclockwise
%0 theta change
basemprimendpts45_c(1,:) = [1 1 0 forwardcostmult];
basemprimendpts45_c(2,:) = [6 6 0 forwardcostmult];
basemprimendpts45_c(3,:) = [-1 -1 0 backwardcostmult];
%1/16 theta change
basemprimendpts45_c(4,:) = [5 7 1 forwardandturncostmult];
basemprimendpts45_c(5,:) = [7 5 -1 forwardandturncostmult];
%turn in place
basemprimendpts45_c(6,:) = [0 0 1 turninplacecostmult];
basemprimendpts45_c(7,:) = [0 0 -1 turninplacecostmult];
%22.5 degrees
basemprimendpts22p5_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult (multiplier is used as costmult*cost)
%x aligned with the heading of the robot, angles are positive
%counterclockwise
%0 theta change
basemprimendpts22p5_c(1,:) = [2 1 0 forwardcostmult];
basemprimendpts22p5_c(2,:) = [6 3 0 forwardcostmult];
basemprimendpts22p5_c(3,:) = [-2 -1 0 backwardcostmult];
%1/16 theta change
basemprimendpts22p5_c(4,:) = [5 4 1 forwardandturncostmult];
basemprimendpts22p5_c(5,:) = [7 2 -1 forwardandturncostmult];
%turn in place
basemprimendpts22p5_c(6,:) = [0 0 1 turninplacecostmult];
basemprimendpts22p5_c(7,:) = [0 0 -1 turninplacecostmult];
else
fprintf(1, 'ERROR: undefined mprims type\n');
return;
end;
fout = fopen(outfilename, 'w');
%write the header
fprintf(fout, 'resolution_m: %f\n', resolution);
fprintf(fout, 'numberofangles: %d\n', numberofangles);
fprintf(fout, 'totalnumberofprimitives: %d\n', numberofprimsperangle*numberofangles);
%iterate over angles
for angleind = 1:numberofangles
figure(1);
hold off;
text(0, 0, int2str(angleind));
%iterate over primitives
for primind = 1:numberofprimsperangle
fprintf(fout, 'primID: %d\n', primind-1);
fprintf(fout, 'startangle_c: %d\n', angleind-1);
%current angle
currentangle = (angleind-1)*2*pi/numberofangles;
currentangle_36000int = round((angleind-1)*36000/numberofangles);
%compute which template to use
if (rem(currentangle_36000int, 9000) == 0)
basemprimendpts_c = basemprimendpts0_c(primind,:);
angle = currentangle;
elseif (rem(currentangle_36000int, 4500) == 0)
basemprimendpts_c = basemprimendpts45_c(primind,:);
angle = currentangle - 45*pi/180;
elseif (rem(currentangle_36000int-7875, 9000) == 0)
basemprimendpts_c = basemprimendpts33p75_c(primind,:);
basemprimendpts_c(1) = basemprimendpts33p75_c(primind, 2); %reverse x and y
basemprimendpts_c(2) = basemprimendpts33p75_c(primind, 1);
basemprimendpts_c(3) = -basemprimendpts33p75_c(primind, 3); %reverse the angle as well
angle = currentangle - 78.75*pi/180;
fprintf(1, '78p75\n');
elseif (rem(currentangle_36000int-6750, 9000) == 0)
basemprimendpts_c = basemprimendpts22p5_c(primind,:);
basemprimendpts_c(1) = basemprimendpts22p5_c(primind, 2); %reverse x and y
basemprimendpts_c(2) = basemprimendpts22p5_c(primind, 1);
basemprimendpts_c(3) = -basemprimendpts22p5_c(primind, 3); %reverse the angle as well
%fprintf(1, '%d %d %d onto %d %d %d\n', basemprimendpts22p5_c(1), basemprimendpts22p5_c(2), basemprimendpts22p5_c(3), ...
% basemprimendpts_c(1), basemprimendpts_c(2), basemprimendpts_c(3));
angle = currentangle - 67.5*pi/180;
fprintf(1, '67p5\n');
elseif (rem(currentangle_36000int-5625, 9000) == 0)
basemprimendpts_c = basemprimendpts11p25_c(primind,:);
basemprimendpts_c(1) = basemprimendpts11p25_c(primind, 2); %reverse x and y
basemprimendpts_c(2) = basemprimendpts11p25_c(primind, 1);
basemprimendpts_c(3) = -basemprimendpts11p25_c(primind, 3); %reverse the angle as well
angle = currentangle - 56.25*pi/180;
fprintf(1, '56p25\n');
elseif (rem(currentangle_36000int-3375, 9000) == 0)
basemprimendpts_c = basemprimendpts33p75_c(primind,:);
angle = currentangle - 33.75*pi/180;
fprintf(1, '33p75\n');
elseif (rem(currentangle_36000int-2250, 9000) == 0)
basemprimendpts_c = basemprimendpts22p5_c(primind,:);
angle = currentangle - 22.5*pi/180;
fprintf(1, '22p5\n');
elseif (rem(currentangle_36000int-1125, 9000) == 0)
basemprimendpts_c = basemprimendpts11p25_c(primind,:);
angle = currentangle - 11.25*pi/180;
fprintf(1, '11p25\n');
else
fprintf(1, 'ERROR: invalid angular resolution. angle = %d\n', currentangle_36000int);
return;
end;
%now figure out what action will be
baseendpose_c = basemprimendpts_c(1:3);
additionalactioncostmult = basemprimendpts_c(4);
endx_c = round(baseendpose_c(1)*cos(angle) - baseendpose_c(2)*sin(angle));
endy_c = round(baseendpose_c(1)*sin(angle) + baseendpose_c(2)*cos(angle));
endtheta_c = rem(angleind - 1 + baseendpose_c(3), numberofangles);
endpose_c = [endx_c endy_c endtheta_c];
fprintf(1, 'rotation angle=%f\n', angle*180/pi);
if baseendpose_c(2) == 0 & baseendpose_c(3) == 0
%fprintf(1, 'endpose=%d %d %d\n', endpose_c(1), endpose_c(2), endpose_c(3));
end;
%generate intermediate poses (remember they are w.r.t 0,0 (and not
%centers of the cells)
numofsamples = 10;
intermcells_m = zeros(numofsamples,3);
if UNICYCLE_MPRIM_16DEGS == 1
startpt = [0 0 currentangle];
endpt = [endpose_c(1)*resolution endpose_c(2)*resolution ...
rem(angleind - 1 + baseendpose_c(3), numberofangles)*2*pi/numberofangles];
intermcells_m = zeros(numofsamples,3);
if ((endx_c == 0 & endy_c == 0) | baseendpose_c(3) == 0) %turn in place or move forward
for iind = 1:numofsamples
intermcells_m(iind,:) = [startpt(1) + (endpt(1) - startpt(1))*(iind-1)/(numofsamples-1) ...
startpt(2) + (endpt(2) - startpt(2))*(iind-1)/(numofsamples-1) ...
0];
rotation_angle = (baseendpose_c(3) ) * (2*pi/numberofangles);
intermcells_m(iind,3) = rem(startpt(3) + (rotation_angle)*(iind-1)/(numofsamples-1), 2*pi);
end;
else %unicycle-based move forward or backward
R = [cos(startpt(3)) sin(endpt(3)) - sin(startpt(3));
sin(startpt(3)) -(cos(endpt(3)) - cos(startpt(3)))];
S = pinv(R)*[endpt(1) - startpt(1); endpt(2) - startpt(2)];
l = S(1);
tvoverrv = S(2);
rv = (baseendpose_c(3)*2*pi/numberofangles + l/tvoverrv);
tv = tvoverrv*rv;
if l < 0
fprintf(1, 'WARNING: l = %d < 0 -> bad action start/end points\n', l);
l = 0;
end;
%compute rv
%rv = baseendpose_c(3)*2*pi/numberofangles;
%compute tv
%tvx = (endpt(1) - startpt(1))*rv/(sin(endpt(3)) - sin(startpt(3)))
%tvy = -(endpt(2) - startpt(2))*rv/(cos(endpt(3)) - cos(startpt(3)))
%tv = (tvx + tvy)/2.0;
%generate samples
for iind = 1:numofsamples
dt = (iind-1)/(numofsamples-1);
%dtheta = rv*dt + startpt(3);
%intermcells_m(iind,:) = [startpt(1) + tv/rv*(sin(dtheta) - sin(startpt(3))) ...
% startpt(2) - tv/rv*(cos(dtheta) - cos(startpt(3))) ...
% dtheta];
if(dt*tv < l)
intermcells_m(iind,:) = [startpt(1) + dt*tv*cos(startpt(3)) ...
startpt(2) + dt*tv*sin(startpt(3)) ...
startpt(3)];
else
dtheta = rv*(dt - l/tv) + startpt(3);
intermcells_m(iind,:) = [startpt(1) + l*cos(startpt(3)) + tvoverrv*(sin(dtheta) - sin(startpt(3))) ...
startpt(2) + l*sin(startpt(3)) - tvoverrv*(cos(dtheta) - cos(startpt(3))) ...
dtheta];
end;
end;
%correct
errorxy = [endpt(1) - intermcells_m(numofsamples,1) ...
endpt(2) - intermcells_m(numofsamples,2)];
fprintf(1, 'l=%f errx=%f erry=%f\n', l, errorxy(1), errorxy(2));
interpfactor = [0:1/(numofsamples-1):1];
intermcells_m(:,1) = intermcells_m(:,1) + errorxy(1)*interpfactor';
intermcells_m(:,2) = intermcells_m(:,2) + errorxy(2)*interpfactor';
end;
end;
%write out
fprintf(fout, 'endpose_c: %d %d %d\n', endpose_c(1), endpose_c(2), endpose_c(3));
fprintf(fout, 'additionalactioncostmult: %d\n', additionalactioncostmult);
fprintf(fout, 'intermediateposes: %d\n', size(intermcells_m,1));
for interind = 1:size(intermcells_m, 1)
fprintf(fout, '%.4f %.4f %.4f\n', intermcells_m(interind,1), intermcells_m(interind,2), intermcells_m(interind,3));
end;
plot(intermcells_m(:,1), intermcells_m(:,2));
axis([-0.3 0.3 -0.3 0.3]);
text(intermcells_m(numofsamples,1), intermcells_m(numofsamples,2), int2str(endpose_c(3)));
hold on;
end;
grid;
pause;
end;
fclose('all');

416
Controllers/Packages/amr_startup/config/mprim/genmprim_unicycle_highcost_5cm.py Executable file
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#!/usr/bin/env python3
#
# Copyright (c) 2016, David Conner (Christopher Newport University)
# Based on genmprim_unicycle.m
# Copyright (c) 2008, Maxim Likhachev
# All rights reserved.
# converted by libermate utility (https://github.com/awesomebytes/libermate)
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the Carnegie Mellon University nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import numpy as np
import rospkg
# if available import pylab (from matlibplot)
matplotlib_found = False
try:
import matplotlib.pylab as plt
matplotlib_found = True
except ImportError:
pass
def matrix_size(mat, elem=None):
if not elem:
return mat.shape
else:
return mat.shape[int(elem) - 1]
def genmprim_unicycle(outfilename, visualize=False, separate_plots=False):
visualize = matplotlib_found and visualize # Plot the primitives
# Local Variables: basemprimendpts22p5_c, endtheta_c, endx_c,
# baseendpose_c, additionalactioncostmult, fout, numofsamples,
# basemprimendpts45_c, primind, basemprimendpts0_c, rv, angle, outfilename,
# numberofangles, startpt, UNICYCLE_MPRIM_16DEGS, sidestepcostmult,
# rotation_angle, basemprimendpts_c, forwardandturncostmult,
# forwardcostmult, turninplacecostmult, endpose_c, backwardcostmult,
# interpfactor, S, R, tvoverrv, dtheta, intermcells_m, tv, dt,
# currentangle, numberofprimsperangle, resolution, currentangle_36000int,
# l, iind, errorxy, interind, endy_c, angleind, endpt
# Function calls: plot, cos, pi, grid, figure, genmprim_unicycle, text,
# int2str, pause, axis, sin, pinv, fprintf, fclose, rem, zeros, fopen,
# round, size
# %
# %generates motion primitives and saves them into file
# %
# %written by Maxim Likhachev
# %---------------------------------------------------
# %
# %defines
UNICYCLE_MPRIM_16DEGS = 1.0
if UNICYCLE_MPRIM_16DEGS == 1.0:
resolution = 0.05
numberofangles = 16
# %preferably a power of 2, definitely multiple of 8
numberofprimsperangle = 7
# %multipliers (multiplier is used as costmult*cost)
forwardcostmult = 1.0
backwardcostmult = 40.0
forwardandturncostmult = 2.0
# sidestepcostmult = 10.0
turninplacecostmult = 20.0
# %note, what is shown x,y,theta changes (not absolute numbers)
# %0 degreees
basemprimendpts0_c = np.zeros((numberofprimsperangle, 4))
# %x,y,theta,costmult
# %x aligned with the heading of the robot, angles are positive
# %counterclockwise
# %0 theta change
basemprimendpts0_c[0, :] = np.array(np.hstack((1.0, 0.0, 0.0, forwardcostmult)))
basemprimendpts0_c[1, :] = np.array(np.hstack((8.0, 0.0, 0.0, forwardcostmult)))
basemprimendpts0_c[2, :] = np.array(np.hstack((-1.0, 0.0, 0.0, backwardcostmult)))
# %1/16 theta change
basemprimendpts0_c[3, :] = np.array(np.hstack((8.0, 1.0, 1.0, forwardandturncostmult)))
basemprimendpts0_c[4, :] = np.array(np.hstack((8.0, -1.0, -1.0, forwardandturncostmult)))
# %turn in place
basemprimendpts0_c[5, :] = np.array(np.hstack((0.0, 0.0, 1.0, turninplacecostmult)))
basemprimendpts0_c[6, :] = np.array(np.hstack((0.0, 0.0, -1.0, turninplacecostmult)))
# %45 degrees
basemprimendpts45_c = np.zeros((numberofprimsperangle, 4))
# %x,y,theta,costmult (multiplier is used as costmult*cost)
# %x aligned with the heading of the robot, angles are positive
# %counterclockwise
# %0 theta change
basemprimendpts45_c[0, :] = np.array(np.hstack((1.0, 1.0, 0.0, forwardcostmult)))
basemprimendpts45_c[1, :] = np.array(np.hstack((6.0, 6.0, 0.0, forwardcostmult)))
basemprimendpts45_c[2, :] = np.array(np.hstack((-1.0, -1.0, 0.0, backwardcostmult)))
# %1/16 theta change
basemprimendpts45_c[3, :] = np.array(np.hstack((5.0, 7.0, 1.0, forwardandturncostmult)))
basemprimendpts45_c[4, :] = np.array(np.hstack((7.0, 5.0, -1.0, forwardandturncostmult)))
# %turn in place
basemprimendpts45_c[5, :] = np.array(np.hstack((0.0, 0.0, 1.0, turninplacecostmult)))
basemprimendpts45_c[6, :] = np.array(np.hstack((0.0, 0.0, -1.0, turninplacecostmult)))
# %22.5 degrees
basemprimendpts22p5_c = np.zeros((numberofprimsperangle, 4))
# %x,y,theta,costmult (multiplier is used as costmult*cost)
# %x aligned with the heading of the robot, angles are positive
# %counterclockwise
# %0 theta change
basemprimendpts22p5_c[0, :] = np.array(np.hstack((2.0, 1.0, 0.0, forwardcostmult)))
basemprimendpts22p5_c[1, :] = np.array(np.hstack((6.0, 3.0, 0.0, forwardcostmult)))
basemprimendpts22p5_c[2, :] = np.array(np.hstack((-2.0, -1.0, 0.0, backwardcostmult)))
# %1/16 theta change
basemprimendpts22p5_c[3, :] = np.array(np.hstack((5.0, 4.0, 1.0, forwardandturncostmult)))
basemprimendpts22p5_c[4, :] = np.array(np.hstack((7.0, 2.0, -1.0, forwardandturncostmult)))
# %turn in place
basemprimendpts22p5_c[5, :] = np.array(np.hstack((0.0, 0.0, 1.0, turninplacecostmult)))
basemprimendpts22p5_c[6, :] = np.array(np.hstack((0.0, 0.0, -1.0, turninplacecostmult)))
else:
print('ERROR: undefined mprims type\n')
return []
fout = open(outfilename, 'w')
# %write the header
fout.write('resolution_m: %f\n' % (resolution))
fout.write('numberofangles: %d\n' % (numberofangles))
fout.write('totalnumberofprimitives: %d\n' % (numberofprimsperangle * numberofangles))
# %iterate over angles
for angleind in np.arange(1.0, (numberofangles) + 1):
currentangle = ((angleind - 1) * 2.0 * np.pi) / numberofangles
currentangle_36000int = np.round((angleind - 1) * 36000.0 / numberofangles)
if visualize:
if separate_plots:
fig = plt.figure(angleind)
plt.title('angle {:2.0f} (= {:3.1f} degrees)'.format(angleind - 1, currentangle_36000int / 100.0))
else:
fig = plt.figure(1)
plt.axis('equal')
plt.axis([-10 * resolution, 10 * resolution, -10 * resolution, 10 * resolution])
ax = fig.add_subplot(1, 1, 1)
major_ticks = np.arange(-8 * resolution, 9 * resolution, 4 * resolution)
minor_ticks = np.arange(-8 * resolution, 9 * resolution, resolution)
ax.set_xticks(major_ticks)
ax.set_xticks(minor_ticks, minor=True)
ax.set_yticks(major_ticks)
ax.set_yticks(minor_ticks, minor=True)
ax.grid(which='minor', alpha=0.5)
ax.grid(which='major', alpha=0.9)
# %iterate over primitives
for primind in np.arange(1.0, (numberofprimsperangle) + 1):
fout.write('primID: %d\n' % (primind - 1))
fout.write('startangle_c: %d\n' % (angleind - 1))
# %current angle
# %compute which template to use
if (currentangle_36000int % 9000) == 0:
basemprimendpts_c = basemprimendpts0_c[int(primind) - 1, :]
angle = currentangle
elif (currentangle_36000int % 4500) == 0:
basemprimendpts_c = basemprimendpts45_c[int(primind) - 1, :]
angle = currentangle - 45.0 * np.pi / 180.0
# commented out because basemprimendpts33p75_c is undefined
# elif ((currentangle_36000int - 7875) % 9000) == 0:
# basemprimendpts_c = (
# 1 * basemprimendpts33p75_c[primind, :]
# ) # 1* to force deep copy to avoid reference update below
# basemprimendpts_c[0] = basemprimendpts33p75_c[primind, 1]
# # %reverse x and y
# basemprimendpts_c[1] = basemprimendpts33p75_c[primind, 0]
# basemprimendpts_c[2] = -basemprimendpts33p75_c[primind, 2]
# # %reverse the angle as well
# angle = currentangle - (78.75 * np.pi) / 180.0
# print('78p75\n')
elif ((currentangle_36000int - 6750) % 9000) == 0:
basemprimendpts_c = (
1 * basemprimendpts22p5_c[int(primind) - 1, :]
) # 1* to force deep copy to avoid reference update below
basemprimendpts_c[0] = basemprimendpts22p5_c[int(primind) - 1, 1]
# %reverse x and y
basemprimendpts_c[1] = basemprimendpts22p5_c[int(primind) - 1, 0]
basemprimendpts_c[2] = -basemprimendpts22p5_c[int(primind) - 1, 2]
# %reverse the angle as well
# print(
# '%d : %d %d %d onto %d %d %d\n'
# % (
# primind - 1,
# basemprimendpts22p5_c[int(primind) - 1, 0],
# basemprimendpts22p5_c[int(primind) - 1, 1],
# basemprimendpts22p5_c[int(primind) - 1, 2],
# basemprimendpts_c[0],
# basemprimendpts_c[1],
# basemprimendpts_c[2],
# )
# )
angle = currentangle - (67.5 * np.pi) / 180.0
print('67p5\n')
# commented out because basemprimendpts11p25_c is undefined
# elif ((currentangle_36000int - 5625) % 9000) == 0:
# basemprimendpts_c = (
# 1 * basemprimendpts11p25_c[primind, :]
# ) # 1* to force deep copy to avoid reference update below
# basemprimendpts_c[0] = basemprimendpts11p25_c[primind, 1]
# # %reverse x and y
# basemprimendpts_c[1] = basemprimendpts11p25_c[primind, 0]
# basemprimendpts_c[2] = -basemprimendpts11p25_c[primind, 2]
# # %reverse the angle as well
# angle = currentangle - (56.25 * np.pi) / 180.0
# print('56p25\n')
# commented out because basemprimendpts33p75_c is undefined
# elif ((currentangle_36000int - 3375) % 9000) == 0:
# basemprimendpts_c = basemprimendpts33p75_c[int(primind), :]
# angle = currentangle - (33.75 * np.pi) / 180.0
# print('33p75\n')
elif ((currentangle_36000int - 2250) % 9000) == 0:
basemprimendpts_c = basemprimendpts22p5_c[int(primind) - 1, :]
angle = currentangle - (22.5 * np.pi) / 180.0
print('22p5\n')
# commented out because basemprimendpts11p25_c is undefined
# elif ((currentangle_36000int - 1125) % 9000) == 0:
# basemprimendpts_c = basemprimendpts11p25_c[int(primind), :]
# angle = currentangle - (11.25 * np.pi) / 180.0
# print('11p25\n')
else:
print('ERROR: invalid angular resolution. angle = %d\n' % currentangle_36000int)
return []
# %now figure out what action will be
baseendpose_c = basemprimendpts_c[0:3]
additionalactioncostmult = basemprimendpts_c[3]
endx_c = np.round((baseendpose_c[0] * np.cos(angle)) - (baseendpose_c[1] * np.sin(angle)))
endy_c = np.round((baseendpose_c[0] * np.sin(angle)) + (baseendpose_c[1] * np.cos(angle)))
endtheta_c = np.fmod(angleind - 1 + baseendpose_c[2], numberofangles)
endpose_c = np.array(np.hstack((endx_c, endy_c, endtheta_c)))
print("endpose_c=", endpose_c)
print(('rotation angle=%f\n' % (angle * 180.0 / np.pi)))
# if np.logical_and(baseendpose_c[1] == 0., baseendpose_c[2] == 0.):
# %fprintf(1, 'endpose=%d %d %d\n', endpose_c(1), endpose_c(2), endpose_c(3));
# %generate intermediate poses (remember they are w.r.t 0,0 (and not
# %centers of the cells)
numofsamples = 10
intermcells_m = np.zeros((numofsamples, 3))
if UNICYCLE_MPRIM_16DEGS == 1.0:
startpt = np.array(np.hstack((0.0, 0.0, currentangle)))
endpt = np.array(
np.hstack(
(
(endpose_c[0] * resolution),
(endpose_c[1] * resolution),
(
((np.fmod(angleind - 1 + baseendpose_c[2], numberofangles)) * 2.0 * np.pi)
/ numberofangles
),
)
)
)
print("startpt =", startpt)
print("endpt =", endpt)
intermcells_m = np.zeros((numofsamples, 3))
if np.logical_or(np.logical_and(endx_c == 0.0, endy_c == 0.0), baseendpose_c[2] == 0.0):
# %turn in place or move forward
for iind in np.arange(1.0, (numofsamples) + 1):
fraction = float(iind - 1) / (numofsamples - 1)
intermcells_m[int(iind) - 1, :] = np.array(
(
startpt[0] + (endpt[0] - startpt[0]) * fraction,
startpt[1] + (endpt[1] - startpt[1]) * fraction,
0,
)
)
rotation_angle = baseendpose_c[2] * (2.0 * np.pi / numberofangles)
intermcells_m[int(iind) - 1, 2] = np.fmod(startpt[2] + rotation_angle * fraction, (2.0 * np.pi))
# print " ",iind," of ",numofsamples," fraction=",fraction," rotation=",rotation_angle
else:
# %unicycle-based move forward or backward (http://sbpl.net/node/53)
R = np.array(
np.vstack(
(
np.hstack((np.cos(startpt[2]), np.sin(endpt[2]) - np.sin(startpt[2]))),
np.hstack((np.sin(startpt[2]), -np.cos(endpt[2]) + np.cos(startpt[2]))),
)
)
)
S = np.dot(np.linalg.pinv(R), np.array(np.vstack((endpt[0] - startpt[0], endpt[1] - startpt[1]))))
l = S[0]
tvoverrv = S[1]
rv = (baseendpose_c[2] * 2.0 * np.pi / numberofangles) + l / tvoverrv
tv = tvoverrv * rv
# print "R=\n",R
# print "Rpi=\n",np.linalg.pinv(R)
# print "S=\n",S
# print "l=",l
# print "tvoverrv=",tvoverrv
# print "rv=",rv
# print "tv=",tv
if l < 0.0:
print(('WARNING: l = %f < 0 -> bad action start/end points\n' % (l)))
l = 0.0
# %compute rv
# %rv = baseendpose_c(3)*2*pi/numberofangles;
# %compute tv
# %tvx = (endpt(1) - startpt(1))*rv/(sin(endpt(3)) - sin(startpt(3)))
# %tvy = -(endpt(2) - startpt(2))*rv/(cos(endpt(3)) - cos(startpt(3)))
# %tv = (tvx + tvy)/2.0;
# %generate samples
for iind in np.arange(1, numofsamples + 1):
dt = (iind - 1) / (numofsamples - 1)
# %dtheta = rv*dt + startpt(3);
# %intermcells_m(iind,:) = [startpt(1) + tv/rv*(sin(dtheta) - sin(startpt(3))) ...
# % startpt(2) - tv/rv*(cos(dtheta) - cos(startpt(3))) ...
# % dtheta];
if (dt * tv) < l:
intermcells_m[int(iind) - 1, :] = np.array(
np.hstack(
(
startpt[0] + dt * tv * np.cos(startpt[2]),
startpt[1] + dt * tv * np.sin(startpt[2]),
startpt[2],
)
)
)
else:
dtheta = rv * (dt - l / tv) + startpt[2]
intermcells_m[int(iind) - 1, :] = np.array(
np.hstack(
(
startpt[0]
+ l * np.cos(startpt[2])
+ tvoverrv * (np.sin(dtheta) - np.sin(startpt[2])),
startpt[1]
+ l * np.sin(startpt[2])
- tvoverrv * (np.cos(dtheta) - np.cos(startpt[2])),
dtheta,
)
)
)
# %correct
errorxy = np.array(
np.hstack(
(
endpt[0] - intermcells_m[int(numofsamples) - 1, 0],
endpt[1] - intermcells_m[int(numofsamples) - 1, 1],
)
)
)
# print('l=%f errx=%f erry=%f\n'%(l, errorxy[0], errorxy[1]))
interpfactor = np.array(
np.hstack((np.arange(0.0, 1.0 + (1.0 / (numofsamples)), 1.0 / (numofsamples - 1))))
)
# print "intermcells_m=",intermcells_m
# print "interp'=",interpfactor.conj().T
intermcells_m[:, 0] = intermcells_m[:, 0] + errorxy[0] * interpfactor.conj().T
intermcells_m[:, 1] = intermcells_m[:, 1] + errorxy[1] * interpfactor.conj().T
# %write out
fout.write('endpose_c: %d %d %d\n' % (endpose_c[0], endpose_c[1], endpose_c[2]))
fout.write('additionalactioncostmult: %d\n' % (additionalactioncostmult))
fout.write('intermediateposes: %d\n' % (matrix_size(intermcells_m, 1.0)))
for interind in np.arange(1.0, (matrix_size(intermcells_m, 1.0)) + 1):
fout.write(
'%.4f %.4f %.4f\n'
% (
intermcells_m[int(interind) - 1, 0],
intermcells_m[int(interind) - 1, 1],
intermcells_m[int(interind) - 1, 2],
)
)
if visualize:
plt.plot(intermcells_m[:, 0], intermcells_m[:, 1], linestyle="-", marker="o")
plt.text(endpt[0], endpt[1], '{:2.0f}'.format(endpose_c[2]))
# if (visualize):
# plt.waitforbuttonpress() # uncomment to plot each primitive set one at a time
fout.close()
if visualize:
# plt.waitforbuttonpress() # hold until buttom pressed
plt.show() # Keep windows open until the program is terminated
return []
if __name__ == "__main__":
rospack = rospkg.RosPack()
outfilename = rospack.get_path('mir_navigation') + '/mprim/unicycle_highcost_5cm.mprim'
genmprim_unicycle(outfilename, visualize=True)

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MQTT:
Name: T801
Host: 172.20.235.170
Port: 1885
Client_ID: T801
Username: robotics
Password: robotics
Keep_Alive: 60

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position_planner_name: PNKXLocalPlanner
docking_planner_name: PNKXDockingLocalPlanner
go_straight_planner_name: PNKXGoStraightLocalPlanner
rotate_planner_name: PNKXRotateLocalPlanner
base_local_planner: nav_core_adapter::LocalPlannerAdapter
yaw_goal_tolerance: 0.017
xy_goal_tolerance: 0.015
stateful: true
publish_topic: true
LocalPlannerAdapter:
PNKXLocalPlanner:
# Algorithm
trajectory_generator_name: mkt_plugins::LimitedAccelGenerator
algorithm_nav_name: mkt_algorithm::diff::PredictiveTrajectory
algorithm_rotate_name: mkt_algorithm::diff::RotateToGoal
# Goal checking
goal_checker_name: mkt_plugins::GoalChecker
PNKXDockingLocalPlanner:
# Algorithm
trajectory_generator_name: mkt_plugins::LimitedAccelGenerator
algorithm_nav_name: mkt_algorithm::diff::PredictiveTrajectory
algorithm_rotate_name: mkt_algorithm::diff::RotateToGoal
# Goal checking
goal_checker_name: mkt_plugins::GoalChecker
PNKXGoStraightLocalPlanner:
# Algorithm
trajectory_generator_name: mkt_plugins::LimitedAccelGenerator
algorithm_nav_name: mkt_algorithm::diff::GoStraight
# Goal checking
goal_checker_name: mkt_plugins::GoalChecker
PNKXRotateLocalPlanner:
# Algorithm
algorithm_rotate_name: mkt_algorithm::diff::RotateToGoal
trajectory_generator_name: mkt_plugins::LimitedAccelGenerator
# Goal checking
goal_checker_name: mkt_plugins::SimpleGoalChecker
stateful: true
LimitedAccelGenerator:
max_vel_x: 1.2
min_vel_x: -1.2
max_vel_y: 0.0 # diff drive robot
min_vel_y: 0.0 # diff drive robot
max_speed_xy: 2.0 # max_trans_vel: 0.8 # choose slightly less than the base's capability
min_speed_xy: 0.1 # min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity
max_vel_theta: 0.3 # max_rot_vel: 1.0 # choose slightly less than the base's capability
min_vel_theta: 0.05 # min_rot_vel: 0.1 default: 0.4 # this is the min angular velocity when there is negligible translational velocity
acc_lim_x: 1.0
acc_lim_y: 0.0 # diff drive robot
acc_lim_theta: 0.5
decel_lim_x: -2.0
decel_lim_y: -0.0
decel_lim_theta: -1.0
# Whether to split the path into segments or not
split_path: true
sim_time: 1.5
vx_samples: 15
vy_samples: 1
vtheta_samples: 10
discretize_by_time: true
angular_granularity: 0.05
linear_granularity: 0.1
# sim_period
include_last_point: true
PredictiveTrajectory:
avoid_obstacles: false
xy_local_goal_tolerance: 0.01
angle_threshold: 0.5
index_samples: 60
follow_step_path: true
# Lookahead
use_velocity_scaled_lookahead_dist: true # Whether to use the velocity scaled lookahead distances or constant lookahead_distance. (default: false)
# only when false:
lookahead_dist: 0.325 # The lookahead distance (m) to use to find the lookahead point. (default: 0.6)
# only when true:
min_lookahead_dist: 0.5 # The minimum lookahead distance (m) threshold. (default: 0.3)
max_lookahead_dist: 1.5 # The maximum lookahead distance (m) threshold. (default: 0.9)
lookahead_time: 1.8 # The time (s) to project the velocity by, a.k.a. lookahead gain. (default: 1.5)
min_journey_squared: 0.3 # Minimum squared journey to consider for goal (default: 0.2)
max_journey_squared: 0.8 # Maximum squared journey to consider for goal (default: 0.2)
# Rotate to heading param - onle one of use_rotate_to_heading and allow_reversing can be set to true
use_rotate_to_heading: true # Whether to enable rotating to rough heading and goal orientation when using holonomic planners. Recommended on for all robot types that can rotate in place. (default: true)
# only when true:
rotate_to_heading_min_angle: 0.03 # The difference in the path orientation and the starting robot orientation (radians) to trigger a rotate in place. (default: 0.785)
# stoped
rot_stopped_velocity: 0.03
trans_stopped_velocity: 0.06
min_approach_linear_velocity: 0.05 # The minimum velocity (m/s) threshold to apply when approaching the goal to ensure progress. Must be > 0.01. (default: 0.05)
# Regulated linear velocity scaling
use_regulated_linear_velocity_scaling: true # Whether to use the regulated features for path curvature (e.g. slow on high curvature paths). (default: true)
# only when true:
regulated_linear_scaling_min_radius: 0.6 # The turning radius (m) for which the regulation features are triggered. Remember, sharper turns have smaller radii. (default: 0.9)
regulated_linear_scaling_min_speed: 0.05 # The minimum speed (m/s) for which any of the regulated heuristics can send, to ensure process is still achievable even in high cost spaces with high curvature. Must be > 0.1. (default: 0.25)
# Inflation cost scaling (Limit velocity by proximity to obstacles)
use_cost_regulated_linear_velocity_scaling: false # Whether to use the regulated features for proximity to obstacles (e.g. slow in close proximity to obstacles). (default: true)
inflation_cost_scaling_factor: 2.0 # (default: 3.0) # must be > 0
cost_scaling_dist: 0.2 # (default: 0.6)
cost_scaling_gain: 2.0 # (default: 1.0)
GoStraight:
avoid_obstacles: false
xy_local_goal_tolerance: 0.01
angle_threshold: 0.6
index_samples: 60
follow_step_path: true
# Lookahead
use_velocity_scaled_lookahead_dist: true # Whether to use the velocity scaled lookahead distances or constant lookahead_distance. (default: false)
# only when false:
lookahead_dist: 0.325 # The lookahead distance (m) to use to find the lookahead point. (default: 0.6)
# only when true:
min_lookahead_dist: 0.5 # The minimum lookahead distance (m) threshold. (default: 0.3)
max_lookahead_dist: 1.5 # The maximum lookahead distance (m) threshold. (default: 0.9)
lookahead_time: 1.8 # The time (s) to project the velocity by, a.k.a. lookahead gain. (default: 1.5)
min_journey_squared: 0.3 # Minimum squared journey to consider for goal (default: 0.2)
max_journey_squared: 0.6 # Minimum squared journey to consider for goal (default: 0.2)
# Rotate to heading param - onle one of use_rotate_to_heading and allow_reversing can be set to true
use_rotate_to_heading: true # Whether to enable rotating to rough heading and goal orientation when using holonomic planners. Recommended on for all robot types that can rotate in place. (default: true)
# only when true:
rotate_to_heading_min_angle: 0.35 # The difference in the path orientation and the starting robot orientation (radians) to trigger a rotate in place. (default: 0.785)
# Speed
min_approach_linear_velocity: 0.05 # The minimum velocity (m/s) threshold to apply when approaching the goal to ensure progress. Must be > 0.01. (default: 0.05)
# stoped
rot_stopped_velocity: 0.03
trans_stopped_velocity: 0.06
min_approach_linear_velocity: 0.05 # The minimum velocity (m/s) threshold to apply when approaching the goal to ensure progress. Must be > 0.01. (default: 0.05)
use_regulated_linear_velocity_scaling: false
use_cost_regulated_linear_velocity_scaling: false
RotateToGoal:
avoid_obstacles: false
xy_local_goal_tolerance: 0.01
angle_threshold: 0.6
index_samples: 60
follow_step_path: true
# Lookahead
use_velocity_scaled_lookahead_dist: true # Whether to use the velocity scaled lookahead distances or constant lookahead_distance. (default: false)
# only when false:
lookahead_dist: 0.325 # The lookahead distance (m) to use to find the lookahead point. (default: 0.6)
# only when true:
min_lookahead_dist: 0.5 # The minimum lookahead distance (m) threshold. (default: 0.3)
max_lookahead_dist: 1.5 # The maximum lookahead distance (m) threshold. (default: 0.9)
lookahead_time: 1.8 # The time (s) to project the velocity by, a.k.a. lookahead gain. (default: 1.5)
min_journey_squared: 0.3 # Minimum squared journey to consider for goal (default: 0.2)
max_journey_squared: 0.6 # Maximum squared journey to consider for goal (default: 0.2)
# Rotate to heading param - onle one of use_rotate_to_heading and allow_reversing can be set to true
use_rotate_to_heading: true # Whether to enable rotating to rough heading and goal orientation when using holonomic planners. Recommended on for all robot types that can rotate in place. (default: true)
# only when true:
rotate_to_heading_min_angle: 0.03 # The difference in the path orientation and the starting robot orientation (radians) to trigger a rotate in place. (default: 0.785)
# stoped
rot_stopped_velocity: 0.03
trans_stopped_velocity: 0.06
min_approach_linear_velocity: 0.05 # The minimum velocity (m/s) threshold to apply when approaching the goal to ensure progress. Must be > 0.01. (default: 0.05)
# Regulated linear velocity scaling
use_regulated_linear_velocity_scaling: true # Whether to use the regulated features for path curvature (e.g. slow on high curvature paths). (default: true)
# only when true:
regulated_linear_scaling_min_radius: 0.6 # The turning radius (m) for which the regulation features are triggered. Remember, sharper turns have smaller radii. (default: 0.9)
regulated_linear_scaling_min_speed: 0.05 # The minimum speed (m/s) for which any of the regulated heuristics can send, to ensure process is still achievable even in high cost spaces with high curvature. Must be > 0.1. (default: 0.25)
# Inflation cost scaling (Limit velocity by proximity to obstacles)
use_cost_regulated_linear_velocity_scaling: false # Whether to use the regulated features for proximity to obstacles (e.g. slow in close proximity to obstacles). (default: true)
inflation_cost_scaling_factor: 2.0 # (default: 3.0) # must be > 0
cost_scaling_dist: 0.2 # (default: 0.6)
cost_scaling_gain: 2.0 # (default: 1.0)

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Controllers/Packages/amr_startup/config/ros_diff_drive_controller.yaml Executable file
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# -----------------------------------
left_wheel : 'left_wheel_joint'
right_wheel : 'right_wheel_joint'
publish_rate: 50 # this is what the real MiR platform publishes (default: 50)
# These covariances are exactly what the real MiR platform publishes
pose_covariance_diagonal : [0.00001, 0.00001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
twist_covariance_diagonal: [0.1, 0.1, 1000000.0, 1000000.0, 1000000.0, 1000.0]
enable_odom_tf: true
enable_wheel_tf: true
allow_multiple_cmd_vel_publishers: true
# open_loop: false
# Wheel separation and diameter. These are both optional.
# diff_drive_controller will attempt to read either one or both from the
# URDF if not specified as a parameter.
# We don't set the value here because it's different for each MiR type (100, 250, ...), and
# the plugin figures out the correct values.
wheel_separation : 0.5106
wheel_radius : 0.1
# Wheel separation and radius multipliers
wheel_separation_multiplier: 1.0 # default: 1.0
wheel_radius_multiplier : 1.0 # default: 1.0
# Velocity commands timeout [s], default 0.5
cmd_vel_timeout: 1.0
# frame_ids (same as real MiR platform)
base_frame_id: base_footprint # default: base_link base_footprint
odom_frame_id: odom # default: odom
# Velocity and acceleration limits
# Whenever a min_* is unspecified, default to -max_*
linear:
x:
has_velocity_limits : true
max_velocity : 1.5 # m/s; move_base max_vel_x: 0.8
min_velocity : -1.5 # m/s
has_acceleration_limits: true
max_acceleration : 3.0 # m/s^2; move_base acc_lim_x: 1.5
min_acceleration : -3.0 # m/s^2
has_jerk_limits : true
max_jerk : 5.0 # m/s^3
angular:
z:
has_velocity_limits : true
max_velocity : 0.6 # rad/s; move_base max_rot_vel: 1.0
min_velocity : -0.6
has_acceleration_limits: true
max_acceleration : 3.0 # rad/s^2; move_base acc_lim_th: 2.0
has_jerk_limits : true
max_jerk : 2.5 # rad/s^3
left_wheel_joint:
lookup_name: WheelPlugin
max_publish_rate: 50
mesurement_topic: left_encoder
frame_id: left_wheel_link
wheel_topic: /left_wheel
subscribe_queue_size: 1
command_timeout: 5.0
origin : [0.0, 0.255, 0.075, 0.0, 0.0, 0.0] # origin from base_frame_id
right_wheel_joint:
lookup_name: WheelPlugin
max_publish_rate: 50
mesurement_topic: right_encoder
frame_id: right_wheel_link
wheel_topic: /right_wheel
subscribe_queue_size: 1
command_timeout: 5.0
origin : [0.0, -0.255, 0.075, 0.0, 0.0, 0.0] # origin from base_frame_id

10
Controllers/Packages/amr_startup/config/sbpl_global_params.yaml Executable file
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base_global_planner: SBPLLatticePlanner
SBPLLatticePlanner:
environment_type: XYThetaLattice
planner_type: ARAPlanner
allocated_time: 10.0
initial_epsilon: 1.0
force_scratch_limit: 10000
forward_search: true
nominalvel_mpersecs: 0.2
timetoturn45degsinplace_secs: 0.6 # = 0.6 rad/s

61
Controllers/Packages/amr_startup/config/sick_line_guidance_mls.yaml Normal file
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bus:
device: can0
driver_plugin: can::SocketCANInterface
master_allocator: canopen::SimpleMaster::Allocator
sync:
interval_ms: 10
overflow: 0
#
# heartbeat: # simple heartbeat producer (optional, not supported by OLS or MLS, do not enable heartbeats)
# rate: 100 # heartbeat rate (1/rate in seconds)
# msg: "77f#05" # message to send, cansend format: heartbeat of node 127 with status 5=Started
nodes:
f_mlse:
id: 0x01 # CAN-Node-ID of can device, default: Node-ID 10=0x0A for OLS and MLS
eds_pkg: sick_line_guidance # package name for relative path
eds_file: mls/SICK-MLS.eds # path to EDS/DCF file
publish: ["1001","1018sub1","1018sub4","2021sub1!","2021sub2!","2021sub3!","2021sub4!","2022!"]
# MLS: 1001 = error register, 1018sub1 = VendorID, 1018sub4 = SerialNumber, TPDO1 = 0x2021sub1 to 0x2021sub4 and 0x2022
# sick_line_guidance configuration of this node:
sick_device_family: "MLS" # can devices of OLS10, OLS20 or MLS family currently supported
sick_topic: "f_mlse" # MLS_Measurement messages are published in topic "/mls"
subscribe_queue_size: 1
sick_frame_id: "f_mlse" # MLS_Measurement messages are published frame_id "mls_measurement_frame"
# device configuration of writable parameter by dcf_overlay: "objectindex": "parametervalue"
# example: "2027": "0x01" # Object 2027 (sensorFlipped, defaultvalue 0x00) will be configured with value 0x01
# dcf_overlay:
# "2028sub1": "0x01" # UseMarkers (0 = disable marker detection, 1 = enable marker detection), UINT8, DataType=0x0005, defaultvalue=0
# "2028sub2": "0x02" # MarkerStyle (0 = disable marker detection, 1 = standard mode, 2 = extended mode), UINT8, DataType=0x0005, defaultvalue=0
# "2028sub3": "0x01" # FailSafeMode (0 = disabled, 1 = enabled), UINT8, DataType=0x0005, defaultvalue=0
# "2025": "1000" # Min.Level, UINT16, DataType=0x0006, defaultvalue=600
# "2026": "1" # Offset [mm] Nullpunkt, INT16, DataType=0x0003, defaultvalue=0
# "2027": "0x01" # sensorFlipped, UINT8, DataType=0x0005, defaultvalue=0
# "2029": "0x01" # LockTeach, UINT8, DataType=0x0005, defaultvalue=0
#
b_mlse:
id: 0x02 # CAN-Node-ID of can device, default: Node-ID 10=0x0A for OLS and MLS
eds_pkg: sick_line_guidance # package name for relative path
eds_file: mls/SICK-MLS.eds # path to EDS/DCF file
publish: ["1001","1018sub1","1018sub4","2021sub1!","2021sub2!","2021sub3!","2021sub4!","2022!"]
# MLS: 1001 = error register, 1018sub1 = VendorID, 1018sub4 = SerialNumber, TPDO1 = 0x2021sub1 to 0x2021sub4 and 0x2022
# sick_line_guidance configuration of this node:
sick_device_family: "MLS" # can devices of OLS10, OLS20 or MLS family currently supported
sick_topic: "b_mlse" # MLS_Measurement messages are published in topic "/mls"
subscribe_queue_size: 1
sick_frame_id: "b_mlse" # MLS_Measurement messages are published frame_id "mls_measurement_frame"
# device configuration of writable parameter by dcf_overlay: "objectindex": "parametervalue"
# example: "2027": "0x01" # Object 2027 (sensorFlipped, defaultvalue 0x00) will be configured with value 0x01
# dcf_overlay:
# "2028sub1": "0x01" # UseMarkers (0 = disable marker detection, 1 = enable marker detection), UINT8, DataType=0x0005, defaultvalue=0
# "2028sub2": "0x02" # MarkerStyle (0 = disable marker detection, 1 = standard mode, 2 = extended mode), UINT8, DataType=0x0005, defaultvalue=0
# "2028sub3": "0x01" # FailSafeMode (0 = disabled, 1 = enabled), UINT8, DataType=0x0005, defaultvalue=0
# "2025": "1000" # Min.Level, UINT16, DataType=0x0006, defaultvalue=600
# "2026": "1" # Offset [mm] Nullpunkt, INT16, DataType=0x0003, defaultvalue=0
# "2027": "0x01" # sensorFlipped, UINT8, DataType=0x0005, defaultvalue=0
# "2029": "0x01" # LockTeach, UINT8, DataType=0x0005, defaultvalue=0
#

3
Controllers/Packages/amr_startup/config/two_points_global_params.yaml Normal file
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base_global_planner: TwoPointsPlanner
TwoPointsPlanner:
lethal_obstacle: 20