记录TrajectoryPlannerROS参数

最新推荐文章于 2023-04-26 13:27:12 发布

原创最新推荐文章于 2023-04-26 13:27:12 发布 · 3.5k 阅读

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本文记录了关于机器人移动基础包（move_base）中TrajectoryPlannerROS的参数配置，包括加速度限制、最大旋转速度、DWA动态窗口算法的使用等。同时详细介绍了全局和局部Costmap的参数，如footprint、inflation_radius、obstacle_range和update_frequency，以确保机器人在环境中安全有效地导航。

xuting@ubuntu:/opt/ros/indigo/catkin_ws$ rosparam get /move_base/TrajectoryPlannerROS/
{acc_lim_theta: 2.2, acc_lim_x: 1.5, acc_lim_y: 2.5, dwa: true, holonomic_robot: false,
max_rotational_vel: 0.8, max_vel_x: 0.3, meter_scoring: true, min_in_place_rotational_vel: 0.4,
min_vel_x: 0.1}

xuting@ubuntu:/opt/ros/indigo/catkin_ws$ rosparam get /move_base/
GlobalPlanner: {use_grid_path: false}
TrajectoryPlannerROS: {acc_lim_theta: 2.2, acc_lim_x: 1.5, acc_lim_y: 2.5, dwa: true,
holonomic_robot: false, max_rotational_vel: 0.8, max_vel_x: 0.3, meter_scoring: true,
min_in_place_rotational_vel: 0.4, min_vel_x: 0.1}
base_global_planner: global_planner/GlobalPlanner
controller_frequency: 2
global_costmap:
footprint:
- [-0.2, -0.2]
- [0.2, -0.2]
- [0.2, 0.2]
- [-0.2, 0.2]
global_frame: /map
inflation_layer: {inflation_radius: 0.1}
inflation_radius: 0.1
obstacle_range: 2.5
obstacles:
    laser_scan_sensor: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: laser,
      topic: /scan}
    observation_sources: laser_scan_sensor
    ultra_sensor: {clearing: true, data_type: PointCloud, marking: true, sensor_frame: base_link,
      topic: /ultra_scan}
plugins:
- {name: static_map, type: 'costmap_2d::StaticLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
raytrace_range: 3.0
resolution: 0.1
robot_base_frame: base_link
static_map: {map_topic: /map}
transform_tolerance: 0.5
update_frequency: 2.0
local_costmap:
footprint:
- [-0.2, -0.2]
- [0.2, -0.2]
- [0.2, 0.2]
- [-0.2, 0.2]
global_frame: odom
height: 6
inflation_layer: {inflation_radius: 0.2}
inflation_radius: 0.1
map_type: costmap
obstacle_range: 2.5
obstacles:
    laser_scan_sensor: {clearing: true, data_type: LaserScan, marking: true, sensor_frame: laser,
      topic: /scan}
    observation_sources: laser_scan_sensor
    ultra_sensor: {clearing: true, data_type: PointCloud, marking: true, sensor_frame: base_link,
      topic: /ultra_scan}
plugins:
- {name: obstacles, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
publish_frequency: 2.0
raytrace_range: 3.0
resolution: 0.1
robot_base_frame: base_link
rolling_window: true
static_map: false
transform_tolerance: 0.5
update_frequency: 2.0
width: 6
recovery_behavior_enabled: false
visualize_potential: true