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HiepLM
2025-12-16 16:18:35 +07:00
parent a06beb70b8
commit 89f435633c
47 changed files with 600 additions and 881 deletions
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54
config/mprim/costmap_common_params.yaml
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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

13
config/mprim/costmap_global_params.yaml
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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.

10
config/mprim/costmap_global_params_plugins_no_virtual_walls.yaml
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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

16
config/mprim/costmap_local_params.yaml
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local_costmap:
global_frame: odom
update_frequency: 6.0
publish_frequency: 6.0
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

24
config/mprim/move_base_common_params.yaml
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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 # abort controller and trigger recovery behaviors after 30.0 s
oscillation_distance: 0.4
### recovery behaviors
recovery_behavior_enabled: true
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

186
config/mprim/pnkx_local_planner_params.yaml
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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: 0.03
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: 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: 0.9 # max_rot_vel: 1.0 # choose slightly less than the base's capability
min_vel_theta: 0.04 # 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: 0.9
decel_lim_x: -1.0
decel_lim_y: -0.0
decel_lim_theta: -1.5
# 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: 0.6
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: 0.5 # The lookahead distance (m) to use to find the lookahead point. (default: 0.6)
# only when true:
min_lookahead_dist: 1.0 # The minimum lookahead distance (m) threshold. (default: 0.3)
max_lookahead_dist: 2.0 # The maximum lookahead distance (m) threshold. (default: 0.9)
lookahead_time: 1.6 # 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)
angular_decel_zone: 0.1
# stoped
rot_stopped_velocity: 0.1
trans_stopped_velocity: 0.1
# Regulated linear velocity scaling
use_regulated_linear_velocity_scaling: false # 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: 0.15 # 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: 0.5 # The lookahead distance (m) to use to find the lookahead point. (default: 0.6)
# only when true:
min_lookahead_dist: 0.8 # 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: 2.5 # 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)
# stoped
rot_stopped_velocity: 0.03
trans_stopped_velocity: 0.06
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: 0.8 # 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)
angular_decel_zone: 0.1
# stoped
rot_stopped_velocity: 0.03
trans_stopped_velocity: 0.06
# Regulated linear velocity scaling
use_regulated_linear_velocity_scaling: false # 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)

3
config/mprim/two_points_global_params.yaml
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base_global_planner: TwoPointsPlanner
TwoPointsPlanner:
lethal_obstacle: 20