progress

rsband_local_planner/cfg/costmap_common_params.yaml

@@ -1,26 +1,31 @@
-obstacle_range: 2.5
-raytrace_range: 1.0
-inf_is_valid: True
+obstacle_range: 5.5
+raytrace_range: 6.0
+#inf_is_valid: True
 #origin_z: 0.0
-z_resolution: 0.2
+#z_resolution: 0.2
 #min_obstacle_height: 0.01
-max_obstacle_height: 2.4
-min_obstacle_height: -5.0
+#max_obstacle_height: 2.4
+#min_obstacle_height: -5.0
 #unknown_threshold: 9
 #mark_threshold: 0
+#clearing: true,
+observation_sources: laser_scan_sensor 
+recovery_behavior_enabled: false
+inflation_radius: 0.55
+laser_scan_sensor: {data_type: LaserScan, sensor_frame: racecar/laser, topic: racecar/filtered_scan, marking: true, clearing: false}
 
 #footprint: [[0.406, 0.146], [-0.102, 0.146], [-0.102, -0.146],[0.406,-0.146]]
 # These are the vertices of the footprint the orign for car like robots in the rear axle
 footprint: [[0.1125, 0.1125], [-0.1125, 0.1125], [-0.1125, -0.1125],[0.1125,-0.1125]]
-inflation_radius: 0.55
+#inflation_radius: 0.55
 #combination_method: 0
 #The cost at which a cell is considered an obstacle when a map is read from the map_server
-lethal_cost_threshold: 100
+#lethal_cost_threshold: 100
 #plugins:
 #- {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}
 #- {name: inflater_layer, type: "costmap_2d::InflationLayer"}
 
 
 cost_scaling_factor: 10.0
-observation_sources: laser_scan_sensor 
-laser_scan_sensor: {sensor_frame: racecar/laser, data_type: LaserScan, topic: /filtered_scan, marking: true, clearing: true,obstacle_range: 2.5, raytrace_range: 3.0}
+#observation_sources: laser_scan_sensor 
+#laser_scan_sensor: {sensor_frame: racecar/laser, data_type: LaserScan, topic: /filtered_scan, marking: true, clearing: true,obstacle_range: 2.5, raytrace_range: 3.0}

rsband_local_planner/cfg/global_costmap.yaml

@@ -11,6 +11,11 @@ global_costmap:
   #static_map: true
   plugins:
    - {name: static_layer, type: "costmap_2d::StaticLayer"}
-   - {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}
-   - {name: inflater_layer, type: "costmap_2d::InflationLayer"}
+   - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
+   - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
+
+
+  inflation_layer:
+    - inflation_radius: 0.35
+    - cost_scaling_factor: 0.5
 

rsband_local_planner/cfg/local_costmap_param.yaml

@@ -1,34 +1,36 @@
 local_costmap:
+  #global_frame
   global_frame: racecar/odom
   robot_base_frame: racecar/base_link
+  plugins:
+   - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
+   - {name: static_layer, type: "costmap_2d::StaticLayer"}
+   - {name: voxel_layer,      type: "costmap_2d::VoxelLayer"}
+   - {name: inflation_layer,     type: "costmap_2d::InflationLayer"}
   update_frequency: 5.0
   publish_frequency: 5.0
   transform_tolerance: 0.5 
+  track_unknown_space: false
   rolling_window: true
   footprint: [[0.1125, 0.1125], [-0.1125, 0.1125], [-0.1125, -0.1125],[0.1125,-0.1125]]
-  width: 3.0
-  height: 3.0
-  # Note that its fine for the resolution of this grid to be different than the resolution of your static map, but most of the time we tend to set them equally.
-  resolution: 0.05
-  observation_sources: laser_scan_sensor 
-  laser_scan_sensor:
-    - sensor_frame: racecar/laser, 
-    - data_type: LaserScan, 
-    - topic: /racecar/filtered_scan, 
-    - marking: true, 
-    - clearing: true,
-    - obstacle_range: 2.5 
-    - raytrace_range: 3.0
+  width: 6.0
+  height: 6.0
+
 
-  inflater_layer:
-    - inflation_radius: 0.35
+  # Note that its fine for the resolution of this grid to be different than the resolution of your static map, but most of the time we tend to set them equally.
+  resolution: 0.04
+  obstacle_layer:
+    track_unknown_space: false
+    combination_method: 1
+    enabled: true
+    observation_sources: laser_scan_sensor 
+    laser_scan_sensor: {data_type: LaserScan, sensor_frame: racecar/laser, topic: racecar/filtered_scan, marking: true, clearing: false, obstacle_range: 2.5, raytrace_range: 3.0, observation_persistence: 0, min_obstacle_height: -5.01, max_obstacle_height: 5.01, inf_is_valid: true}
+  inflation_layer:
+    - inflation_radius: 0.55
     - cost_scaling_factor: 0.5
+  voxel_layer:
+    observation_sources: laser_scan_sensor 
+    laser_scan_sensor: {data_type: LaserScan, sensor_frame: racecar/laser, topic: racecar/filtered_scan, marking: true, clearing: false, obstacle_range: 2.5, raytrace_range: 3.0, observation_persistence: 0, min_obstacle_height: -5.01, max_obstacle_height: 5.01, inf_is_valid: true, origin_z: 0.0, z_resolution: 0.2, unknown_threshold: 9}
 
-#   static_map: false
 
-  plugins:
-   #- {name: obstacles_layer, type: "costmap_2d::ObstacleLayer"}
-   #- {name: inflater_layer, type: "costmap_2d::InflationLayer"}
-   #- {name: static_layer, type: "costmap_2d::StaticLayer"}
-   - {name: obstacle_layer,      type: "costmap_2d::VoxelLayer"}
-   - {name: inflation_layer,     type: "costmap_2d::InflationLayer"}
+