update

config/costmap_common_params.yaml

@@ -5,7 +5,7 @@ rotate_planner_name: PNKXRotateLocalPlanner
 base_local_planner: LocalPlannerAdapter
 base_global_planner: CustomPlanner
 
-robot_base_frame: base_footprint
+robot_base_frame: base_link
 transform_tolerance: 1.0
 obstacle_range: 3.0
 #mark_threshold: 1

config/costmap_global_params.yaml

@@ -1,6 +1,6 @@
 global_costmap:
   library_path: libplugins
-  robot_base_frame: base_footprint
+  robot_base_frame: base_link
   global_frame: map
   update_frequency: 1.0
   publish_frequency: 1.0

config/costmap_local_params.yaml

@@ -1,7 +1,7 @@
 local_costmap: 
   library_path: libplugins
   global_frame: odom
-  robot_base_frame: base_footprint
+  robot_base_frame: base_link
   update_frequency: 6.0
   publish_frequency: 6.0
   rolling_window: true

config/mprim/ekf.yaml

@@ -62,7 +62,7 @@ publish_acceleration: false
 #         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
+base_link_frame: $(arg tf_prefix)base_link  # 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 (robot_nav_msgs/Odometry,

config/mprim/localization.yaml

@@ -25,7 +25,7 @@ Amcl:
   update_min_d: 0.05
   update_min_a: 0.05
   odom_frame_id: odom
-  base_frame_id: base_footprint
+  base_frame_id: base_link
   global_frame_id: map
   resample_interval: 1
   transform_tolerance: 0.2

config/mprim/ros_diff_drive_controller.yaml

@@ -25,7 +25,7 @@ wheel_radius_multiplier    : 1.0 # default: 1.0
 cmd_vel_timeout: 1.0
 
 # frame_ids (same as real MiR platform)
-base_frame_id: base_footprint # default: base_link base_footprint
+base_frame_id: base_link # default: base_link base_link
 odom_frame_id: odom           # default: odom 
 
 # Velocity and acceleration limits

config/pnkx_local_planner_params.yaml

@@ -1,4 +1,4 @@
-yaw_goal_tolerance: 0.017  
+yaw_goal_tolerance: 0.03  
 xy_goal_tolerance: 0.02 
 min_approach_linear_velocity: 0.05 
 
@@ -41,8 +41,8 @@ PNKXRotateLocalPlanner:
     
 LimitedAccelGenerator:
   library_path: libmkt_plugins_standard_traj_generator
-  max_vel_x: 1.2
-  min_vel_x: -1.2
+  max_vel_x: 0.2
+  min_vel_x: -0.2
 
   max_vel_y: 0.0  # diff drive robot
   min_vel_y: 0.0  # diff drive robot