ros navigation costmap 配置进阶版

1. common configuration (global_costmap & local_costmap)

costmap_common_params.yaml

2. global configuration (global_costmap)

global_costmap_params.yaml

3. local configuration (local_costmap)

local_costmap_params.yaml

4. controller configuration

move_base_params.yaml

shutdown_costmaps: false
# 控制器频率
controller_frequency: 10.0
# 失效等待时间 10s
controller_patience: 10.0
planner_frequency: 2.0
planner_patience: 20.0
oscillation_timeout: 0.0
# 震荡距离
oscillation_distance: 0.5  
recovery_behavior_enabled: false
clearing_rotation_allowed: true

ros navigation 规划器配置问题

规划器根据上面的全局地图和局部地图，需要分别配置全局规划器和局部规划器。

局部规划器

局部规划器是在全局规划器的基础上，计算机器人运行所需的线速度角速度。

base_local_planner_params.yaml

配置TrajectoryPlannerROS

TrajectoryPlannerROS:# Robot Configuration Parametersacc_lim_x: 10.0 # default 10acc_lim_theta: 30.0 # default 20max_vel_x: 0.5min_vel_x: 0.1max_vel_theta: 1.57 # default 1.57min_vel_theta: -1.57 # default -1.57min_in_place_vel_theta: 0.314holonomic_robot: falseescape_vel: -0.5# Goal Tolerance Parametersyaw_goal_tolerance: 3.14 # We don't care about orientationxy_goal_tolerance: 0.25 # default 0.25latch_xy_goal_tolerance: false# Forward Simulation Parameterssim_time: 1.0 # default 2.0 ----> (xy_goal_tolerance / 2) > (min_vel_x *  sim_time)sim_granularity: 0.02angular_sim_granularity: 0.02vx_samples: 20 # default 6vtheta_samples: 40controller_frequency: 10.0# Trajectory scoring parametersmeter_scoring: true # Whether the gdist_scale and pdist_scale parameters should assume that goal_distance and path_distance are expressed in units of meters or cells. Cells are assumed by default (false).occdist_scale:  0.01 # The weighting for how much the controller should attempt to avoid obstacles. default 0.01pdist_scale: 5.0  # The weighting for how much the controller should stay close to the path it was given . default 0.6, maximal possible value is 5.0gdist_scale: 0.1 # The weighting for how much the controller should attempt to reach its local goal, also controls speed  default 0.8, maximal possible value is 5.0heading_lookahead: 0.1  #How far to look ahead in meters when scoring different in-place-rotation trajectoriesheading_scoring: false  #Whether to score based on the robot's heading to the path or its distance from the path. default falseheading_scoring_timestep: 0.1   #How far to look ahead in time in seconds along the simulated trajectory when using heading scoring (double, default: 0.8)dwa: false #Whether to use the Dynamic Window Approach (DWA)_ or whether to use Trajectory Rolloutsimple_attractor: falsepublish_cost_grid_pc: true#Oscillation Prevention Parametersoscillation_reset_dist: 0.05 #How far the robot must travel in meters before oscillation flags are reset (double, default: 0.05)escape_reset_dist: 0.1escape_reset_theta: 0.1

dwa_local_planner_params.yaml

配置DWAPlannerROS

DWAPlannerROS: acc_lim_th: 10acc_lim_x: 10acc_lim_y: 0 max_vel_x: 0.5min_vel_x: 0.1 max_vel_y: 0.0min_vel_y: -0.0 max_trans_vel: 2.0min_trans_vel: 0.1max_rot_vel: 1.0min_rot_vel: -1.0sim_time: 1.7 sim_granularity: 0.025 goal_distance_bias: 1.0 path_distance_bias: 24.0 occdist_scale: 0.1 stop_time_buffer: 0.2 oscillation_reset_dist: 0.05 forward_point_distance: 0.325 scaling_speed: 0.25 max_scaling_factor: 0.2 vx_samples: 10vy_samples: 0 vtheta_samples: 20 sim_period: 0.1 controller_frequency: 20xy_goal_tolerance: 0.5yaw_goal_tolerance: 3.14rot_stopped_vel: 0.01 trans_stopped_vel: 0.01

全局规划器

base_global_planner_params.yaml

GlobalPlanner

GlobalPlanner:lethal_cost : 253neutral_cost : 50cost_factor : 3.0publish_potential : true

carrot_planner_params.yaml

CarrotPlanner

CarrotPlanner:min_dist_from_robot : 0.10

ros navigation move_base 节点 launch 文件

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"><!-- 地图参数 --><rosparam file="$(find navi_pkg)/costmap_common_params.yaml" command="load" ns="global_costmap" /> <!-- ns  就是namespace 一定要配置正确，否则找不到对应的规划器  --><rosparam file="$(find navi_pkg)/costmap_common_params.yaml" command="load" ns="local_costmap" /><rosparam file="$(find navi_pkg)/local_costmap_params.yaml" command="load" /><rosparam file="$(find navi_pkg)/global_costmap_params.yaml" command="load" /> <!-- 规划器参数  选择自己使用的一组全局和局部即可 --><rosparam file="$(find navi_pkg)/base_global_planner_params.yaml" command="load" /><rosparam file="$(find navi_pkg)/carrot_planner_params.yaml" command="load" /><rosparam file="$(find navi_pkg)/base_local_planner_params.yaml" command="load" /><rosparam file="$(find navi_pkg)/dwa_local_planner_params.yaml" command="load" /><rosparam file="$(find navi_pkg)/move_base_params.yaml" command="load" /><!--加载以上配置的yaml 文件  --><!--A1配置全局规划器  CarrotPlanner  目标点可在障碍物中--><param name="base_global_planner" value="carrot_planner/CarrotPlanner" /><!--A2配置全局规划器  GlobalPlanner  Dijkstras or A* --><param name="base_global_planner" value="global_planner/GlobalPlanner" /><!--A3配置全局规划器  NavfnROS   Dijkstra --><param name="base_global_planner" value="navfn/NavfnROS" /><!--B1配置局部规划器  TrajectoryPlannerROS   DWA or Trajectory Rollout --><param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/><!--B2配置局部规划器  DWAPlannerROS  DWA--><param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/></node>

配置主要看插件文件比如