git commit -m "first commit"

simulators/sim_env/config/amcl_params.yaml

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+min_particles: 500
+max_particles: 3000
+kld_err: 0.02
+update_min_d: 0.20
+update_min_a: 0.20
+resample_interval: 1
+transform_tolerance: 0.5
+recovery_alpha_slow: 0.00
+recovery_alpha_fast: 0.00
+gui_publish_rate: 50.0
+laser_max_range: 3.5
+laser_max_beams: 180
+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_likelihood_max_dist: 2.0
+laser_model_type: "likelihood_field"
+odom_model_type: "diff"
+odom_alpha1: 0.1
+odom_alpha2: 0.1
+odom_alpha3: 0.1
+odom_alpha4: 0.1

simulators/sim_env/config/costmap/global_costmap_params.yaml

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+global_costmap:
+  global_frame: map
+  robot_base_frame: $(arg prefix)base_footprint
+
+  update_frequency: 1.0
+  publish_frequency: 1.0
+  transform_tolerance: 0.5
+
+  static_map: true
+  # plugins:
+  #   - {name: static_map,       type: "costmap_2d::StaticLayer"}
+  # #   - {name: voxel_layer,        type: "costmap_2d::VoxelLayer"}
+  #   - {name: obstacle_layer,        type: "costmap_2d::ObstacleLayer"}
+  #   - {name: voronoi_layer,        type: "costmap_2d::VoronoiLayer"}     
+  #   - {name: inflation_layer,        type: "costmap_2d::InflationLayer"}

simulators/sim_env/config/costmap/local_costmap_params.yaml

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+local_costmap:
+  global_frame: odom
+  robot_base_frame: $(arg prefix)base_footprint
+
+  update_frequency: 10.0
+  publish_frequency: 10.0
+  transform_tolerance: 0.5  
+
+  static_map: false  
+  rolling_window: true
+  width: 3
+  height: 3
+  resolution: 0.05
+  
+  # plugins:
+  #   - {name: obstacle_layer,        type: "costmap_2d::ObstacleLayer"}
+  #   - {name: inflation_layer,        type: "costmap_2d::InflationLayer"}

simulators/sim_env/config/move_base_params.yaml

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+shutdown_costmaps: false
+
+planner_frequency: 2.0
+planner_patience: 5.0
+
+controller_frequency: 10.0
+controller_patience: 15.0
+
+oscillation_timeout: 10.0
+oscillation_distance: 0.2
+
+conservative_reset_dist: 3.0

simulators/sim_env/config/planner/dwa_planner_params.yaml

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+DWAPlanner:
+
+# Robot Configuration Parameters
+  max_vel_x: 0.46
+  min_vel_x: 0.00
+
+  max_vel_y: 0.0
+  min_vel_y: 0.0
+
+# The velocity when robot is moving in a straight line
+  max_vel_trans:  0.26
+  min_vel_trans:  0.13
+
+  max_vel_theta: 1.82
+  min_vel_theta: 0.9
+
+  acc_lim_x: 2.5
+  acc_lim_y: 0.0
+  acc_lim_theta: 3.2 
+
+# Goal Tolerance Parameters
+  xy_goal_tolerance: 0.05
+  yaw_goal_tolerance: 0.17
+  latch_xy_goal_tolerance: false
+
+# Forward Simulation Parameters
+  sim_time: 2.0
+  vx_samples: 20
+  vy_samples: 0
+  vth_samples: 40
+  controller_frequency: 10.0
+
+# Trajectory Scoring Parameters
+  path_distance_bias: 32.0
+  goal_distance_bias: 20.0
+  occdist_scale: 0.02
+  forward_point_distance: 0.325
+  stop_time_buffer: 0.2
+  scaling_speed: 0.25
+  max_scaling_factor: 0.2
+
+# Oscillation Prevention Parameters
+  oscillation_reset_dist: 0.05
+
+# Debugging
+  publish_traj_pc : true
+  publish_cost_grid_pc: true

simulators/sim_env/config/planner/evolutionary_planner_params.yaml

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+EvolutionaryPlanner:
+  # offset of transform from world(x,y) to grid map(x,y)
+  convert_offset: 0.0
+  # error tolerance
+  default_tolerance: 0.0
+  # whether outline the map or not
+  outline_map: true
+  # obstacle inflation factor
+  obstacle_factor: 0.5
+
+  ## Ant Colony Optimization(ACO) planner 
+  # number of ants
+  n_ants: 50
+  # pheromone weight coefficient
+  alpha: 1.0
+  # heuristic factor weight coefficient
+  beta: 8.0
+  # evaporation coefficient
+  rho: 0.1
+  # pheromone gain
+  Q: 1.0
+  # maximum iterations
+  max_iter: 30

simulators/sim_env/config/planner/graph_planner_params.yaml

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+GraphPlanner:
+  # offset of transform from world(x,y) to grid map(x,y)
+  convert_offset: 0.0
+  # error tolerance
+  default_tolerance: 0.0
+  # whether outline the map or not
+  outline_map: true
+  # obstacle inflation factor
+  obstacle_factor: 0.5
+  # whether publish expand zone or not
+  expand_zone: true

simulators/sim_env/config/planner/pid_planner_params.yaml

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+PIDPlanner:
+  # next point distance/turning angle
+  p_window: 0.2
+  o_window: 1.0
+
+  # goal reached tolerance
+  p_precision: 0.2
+  o_precision: 0.5
+
+  # linear velocity
+  max_v: 0.5
+  min_v: 0.0
+  max_v_inc: 0.5
+
+  # angular velocity
+  max_w: 1.57
+  min_w: 0.0
+  max_w_inc: 1.57
+
+  # pid controller params
+  k_v_p: 1.00
+  k_v_i: 0.10
+  k_v_d: 0.10
+
+  k_w_p: 1.00
+  k_w_i: 0.10
+  k_w_d: 0.10
+
+  k_theta: 0.3

simulators/sim_env/config/planner/sample_planner_params.yaml

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+SamplePlanner:
+  # random sample points
+  sample_points: 2000 #1000 for informed RRT*, 3000 for others
+  # max distance between sample points
+  sample_max_d: 10.0
+  # optimization radius
+  optimization_r: 20.0
+  # offset of transform from world(x,y) to grid map(x,y)
+  convert_offset: 0.0
+  # error tolerance
+  default_tolerance: 0.0
+  # whether outline the map or not
+  outline_map: true
+  # obstacle inflation factor
+  obstacle_factor: 0.5
+  # whether publish expand zone or not
+  expand_zone: true

simulators/sim_env/config/turtlebot3_burger/costmap_common_params_turtlebot3_burger.yaml

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+obstacle_range: 3.0
+raytrace_range: 3.5
+
+footprint: [[-0.105, -0.105], [-0.105, 0.105], [0.041, 0.105], [0.041, -0.105]]
+#robot_radius: 0.105
+
+inflation_radius: 3.0
+cost_scaling_factor: 3.0
+
+map_type: costmap
+observation_sources: scan
+scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}

simulators/sim_env/config/turtlebot3_waffle/costmap_common_params_turtlebot3_waffle.yaml

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+obstacle_range: 3.0
+raytrace_range: 3.5
+
+footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]]
+#robot_radius: 0.17
+
+inflation_radius: 1.0
+cost_scaling_factor: 3.0
+
+map_type: costmap
+observation_sources: scan
+scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true, inf_is_valid: true}

simulators/sim_env/config/turtlebot3_waffle_pi/costmap_common_params_turtlebot3_waffle_pi.yaml

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+obstacle_range: 3.0
+raytrace_range: 3.5
+
+footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]]
+#robot_radius: 0.17
+
+inflation_radius: 1.0
+cost_scaling_factor: 3.0
+
+map_type: costmap
+observation_sources: scan
+scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}