test finish

config/costmap_global_params_plugins_no_virtual_walls.yaml

@@ -2,7 +2,7 @@ global_costmap:
     frame_id: map
     plugins:
         - {name: navigation_map, type: "StaticLayer" }
-        - {name: virtual_walls_map, type: "StaticLayer" }
+        # - {name: virtual_walls_map, type: "StaticLayer" }
         - {name: obstacles,  type: "VoxelLayer" }
         - {name: inflation,  type: "InflationLayer" }
     obstacles:

config/custom_global_params.yaml

@@ -10,6 +10,8 @@ CustomPlanner:
   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"
 
   

config/pnkx_local_planner_params.yaml

@@ -5,45 +5,49 @@ go_straight_planner_name: PNKXGoStraightLocalPlanner
 rotate_planner_name: PNKXRotateLocalPlanner
 
 base_local_planner: LocalPlannerAdapter
-yaw_goal_tolerance: 0.017  
-xy_goal_tolerance: 0.03 
-min_approach_linear_velocity: 0.06   # The minimum velocity (m/s) threshold to apply when approaching the goal to ensure progress. Must be > 0.01. (default: 0.05)
-stateful: true
-publish_topic: true  
-
 LocalPlannerAdapter:
-  PNKXLocalPlanner:
-    # Algorithm
-    trajectory_generator_name: LimitedAccelGenerator 
-    algorithm_nav_name: MKTAlgorithmDiffPredictiveTrajectory
-    algorithm_rotate_name: MKTAlgorithmDiffRotateToGoal
-    # Goal checking
-    goal_checker_name: GoalChecker 
+  library_path: liblocal_planner_adapter
+  yaw_goal_tolerance: 0.017  
+  xy_goal_tolerance: 0.03 
+  min_approach_linear_velocity: 0.06   # The minimum velocity (m/s) threshold to apply when approaching the goal to ensure progress. Must be > 0.01. (default: 0.05)
 
-  PNKXDockingLocalPlanner: 
-    # Algorithm
-    trajectory_generator_name: LimitedAccelGenerator 
-    algorithm_nav_name: MKTAlgorithmDiffPredictiveTrajectory
-    algorithm_rotate_name: MKTAlgorithmDiffRotateToGoal
-    # Goal checking
-    goal_checker_name: GoalChecker 
+PNKXLocalPlanner:
+  # Algorithm
+  library_path: libpnkx_local_planner
+  trajectory_generator_name: LimitedAccelGenerator 
+  algorithm_nav_name: MKTAlgorithmDiffPredictiveTrajectory
+  algorithm_rotate_name: MKTAlgorithmDiffRotateToGoal
+  # Goal checking
+  goal_checker_name: GoalChecker 
 
-  PNKXGoStraightLocalPlanner:
-    # Algorithm
-    trajectory_generator_name: LimitedAccelGenerator 
-    algorithm_nav_name: MKTAlgorithmDiffGoStraight
-    # Goal checking
-    goal_checker_name: GoalChecker 
+PNKXDockingLocalPlanner: 
+  # Algorithm
+  library_path: libpnkx_local_planner
+  trajectory_generator_name: LimitedAccelGenerator 
+  algorithm_nav_name: MKTAlgorithmDiffPredictiveTrajectory
+  algorithm_rotate_name: MKTAlgorithmDiffRotateToGoal
+  # Goal checking
+  goal_checker_name: GoalChecker 
 
-  PNKXRotateLocalPlanner:
-    # Algorithm
-    algorithm_rotate_name: MKTAlgorithmDiffRotateToGoal
-    trajectory_generator_name: LimitedAccelGenerator 
-    # Goal checking
-    goal_checker_name: SimpleGoalChecker
-    stateful: true
+PNKXGoStraightLocalPlanner:
+  # Algorithm
+  library_path: libpnkx_local_planner
+  trajectory_generator_name: LimitedAccelGenerator 
+  algorithm_nav_name: MKTAlgorithmDiffGoStraight
+  # Goal checking
+  goal_checker_name: GoalChecker 
+
+PNKXRotateLocalPlanner:
+  # Algorithm
+  library_path: libpnkx_local_planner
+  algorithm_rotate_name: MKTAlgorithmDiffRotateToGoal
+  trajectory_generator_name: LimitedAccelGenerator 
+  # Goal checking
+  goal_checker_name: SimpleGoalChecker
+  stateful: true
     
 LimitedAccelGenerator:
+  library_path: libmkt_plugins_standard_traj_generator
   max_vel_x: 1.2
   min_vel_x: -1.2
 
@@ -75,7 +79,8 @@ LimitedAccelGenerator:
   # sim_period
   include_last_point: true
 
-PredictiveTrajectory:
+MKTAlgorithmDiffPredictiveTrajectory:
+  library_path: libmkt_algorithm_diff
   avoid_obstacles: false
   xy_local_goal_tolerance: 0.01
   angle_threshold: 0.6
@@ -115,7 +120,8 @@ PredictiveTrajectory:
   cost_scaling_dist: 0.2                             # (default: 0.6)
   cost_scaling_gain: 2.0                             # (default: 1.0)
 
-GoStraight:
+MKTAlgorithmDiffGoStraight:
+  library_path: libmkt_algorithm_diff
   avoid_obstacles: false
   xy_local_goal_tolerance: 0.01
   angle_threshold: 0.6
@@ -145,7 +151,8 @@ GoStraight:
   use_regulated_linear_velocity_scaling: false
   use_cost_regulated_linear_velocity_scaling: false
 
-RotateToGoal:
+MKTAlgorithmDiffRotateToGoal:
+  library_path: libmkt_algorithm_diff
   avoid_obstacles: false
   xy_local_goal_tolerance: 0.01
   angle_threshold: 0.6
@@ -183,4 +190,11 @@ RotateToGoal:
   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)
+  cost_scaling_gain: 2.0                             # (default: 1.0)
+
+
+GoalChecker:
+  library_path: libmkt_plugins_goal_checker
+
+SimpleGoalChecker:
+  library_path: libmkt_plugins_simple_goal_checker