From ce6b38fe7618e7893fdda2c49780bf24c87a7c45 Mon Sep 17 00:00:00 2001
From: Cheng-Chun Hsu <hsu06118@gmail.com>
Date: Mon, 21 Oct 2024 12:34:17 -0500
Subject: [PATCH] commit config/cobot.lua; modify navigation_main

---
 CMakeLists.txt                    |  2 +-
 config/cobot.lua                  | 47 +++++++++++++++++++++++++++++++
 src/navigation/navigation_main.cc |  6 ++--
 3 files changed, 51 insertions(+), 4 deletions(-)
 create mode 100644 config/cobot.lua

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bacb688..235fa1a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,7 +6,7 @@ MESSAGE(STATUS "Using compiler: ${CMAKE_CXX_COMPILER}")
 MESSAGE(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
 MESSAGE(STATUS "Arch: ${CMAKE_SYSTEM_PROCESSOR}")
 
-SET(CMAKE_CXX_FLAGS "-std=c++14 -Wall -Werror")
+SET(CMAKE_CXX_FLAGS "-std=c++17 -Wall -Werror")
 SET(LIBRARY_NAME "graph_nav_lib"
     CACHE STRING "Name of compiled library")
 
diff --git a/config/cobot.lua b/config/cobot.lua
new file mode 100644
index 0000000..47fbe71
--- /dev/null
+++ b/config/cobot.lua
@@ -0,0 +1,47 @@
+function deg2rad(deg)
+  return deg * (math.pi / 180)
+end
+
+NavigationParameters = {
+    laser_topic = "/Cobot/Laser";
+    odom_topic = "/odom";
+    localization_topic = "/localization";
+    image_topic = "/camera/rgb/image_raw/compressed";
+    init_topic = "/initialpose";
+    enable_topic = "autonomy_arbiter/enabled";
+    laser_loc = {
+    x = 0.065;
+    y = 0;
+    };
+    dt = 0.025;
+    max_linear_accel = 0.5;
+    max_linear_decel = 0.5;
+    max_linear_speed = 0.5;
+    max_angular_accel = 0.5;
+    max_angular_decel = 0.5;
+    max_angular_speed = 1.0;
+    carrot_dist = 100; --10;
+    system_latency = 1.0; --0.24;
+    obstacle_margin = 0.15;
+    num_options = 31;
+    robot_width = 0.6; --0.44;
+    robot_length = 0.6; --0.5;
+    base_link_offset = 0;
+    max_free_path_length = 100.0; --6.0;
+    max_clearance = 1.0;
+    can_traverse_stairs = false;
+    use_map_speed = true;
+    target_dist_tolerance = 0.1;
+    target_vel_tolerance = 0.1;
+    target_angle_tolerance = 0.008; --0.01;
+    local_fov = deg2rad(15);
+    use_kinect = true;
+    camera_calibration_path = "/home/cchsu/cobot-moma/graph_navigation/config/camera_calibration_kinect.yaml";
+    model_path = "../preference_learning_models/jit_cost_model_outdoor_6dim.pt";
+    evaluator_type = "linear";
+};
+
+AckermannSampler = {
+  max_curvature = 20; --2.5;
+  clearance_path_clip_fraction = 0.8;
+};
diff --git a/src/navigation/navigation_main.cc b/src/navigation/navigation_main.cc
index 95ed9a3..d724d75 100644
--- a/src/navigation/navigation_main.cc
+++ b/src/navigation/navigation_main.cc
@@ -112,15 +112,15 @@ CONFIG_STRING(enable_topic, "NavigationParameters.enable_topic");
 CONFIG_FLOAT(laser_loc_x, "NavigationParameters.laser_loc.x");
 CONFIG_FLOAT(laser_loc_y, "NavigationParameters.laser_loc.y");
 
-DEFINE_string(map, "UT_Campus", "Name of navigation map file");
-DEFINE_string(twist_drive_topic, "navigation/cmd_vel", "Drive Command Topic");
+DEFINE_string(map, "AHG2v2", "Name of navigation map file");
+DEFINE_string(twist_drive_topic, "/navigation/cmd_vel", "Drive Command Topic");
 DEFINE_bool(debug_images, false, "Show debug images");
 
 // DECLARE_int32(v);
 
 bool run_ = true;
 bool simulate_ = false;
-bool enabled_ = false;
+bool enabled_ = true;
 bool received_odom_ = false;
 bool received_laser_ = false;
 Vector2f goal_ = {0, 0};