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Tuning azimut3 navigation parameters

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This commit is contained in:
matlabbe
2015-03-27 18:55:34 -04:00
parent a0bd43b9cf
commit 4864b35775
5 changed files with 100 additions and 54 deletions
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launch/azimut3/az3_mapping_robot_nav.launch
+24 -10
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@@ -18,9 +18,11 @@
<param name="use_action_for_goal" type="bool" value="true"/>
<param name="cloud_decimation" type="int" value="1"/> <!-- we already decimate in memory below -->
<param name="grid_eroded" type="bool" value="true"/>
<param name="grid_cell_size" type="double" value="0.05"/>
<param name="scan_inf_is_valid" type="bool" value="true"/>
<remap from="odom" to="/base_controller/odom"/>
<remap from="scan" to="/base_scan"/>
<remap from="scan" to="/scan"/>
<remap from="mapData" to="mapData"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
@@ -78,8 +80,9 @@
<!-- ROS navigation stack move_base -->
<group ns="planner">
<remap from="base_scan" to="/base_scan"/>
<remap from="openni_points" to="/local_costmap_cloud"/>
<remap from="base_scan" to="/scan"/>
<remap from="obstacles_cloud" to="/obstacles_cloud"/>
<remap from="ground_cloud" to="/ground_cloud"/>
<remap from="map" to="/map"/>
<remap from="move_base_simple/goal" to="/planner_goal"/>
@@ -87,8 +90,8 @@
<param name="base_global_planner" value="navfn/NavfnROS"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_2d.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_2d.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
</node>
@@ -109,7 +112,7 @@
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="rate" type="double" value="5"/>
<param name="decimation" type="int" value="4"/>
<param name="decimation" type="int" value="2"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
<remap from="depth/image_in" to="depth_registered/image_raw"/>
@@ -124,11 +127,22 @@
<node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
<remap from="depth/image" to="data_resized_image_depth"/>
<remap from="depth/camera_info" to="data_resized_camera_info"/>
<remap from="cloud" to="/local_costmap_cloud" />
<remap from="cloud" to="cloudXYZ" />
<param name="decimation" type="int" value="1"/> <!-- already decimated above -->
<param name="max_depth" type="double" value="6.0"/>
<param name="noise_filter_radius" type="double" value="0.05"/>
<param name="noise_filter_min_neighbors" type="int" value="10"/>
<param name="max_depth" type="double" value="3.0"/>
<param name="voxel_size" type="double" value="0.02"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection camera_nodelet_manager">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/obstacles_cloud"/>
<remap from="ground" to="/ground_cloud"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="map_frame_id" type="string" value="map"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="min_cluster_size" type="int" value="20"/>
<param name="max_obstacles_height" type="double" value="0.4"/>
</node>
</group>
</launch>