基本参数下载：
链接：https://pan.baidu.com/s/1HFTGSQY07DEpKNyaD5iMLQ
提取码：sqp1
--来自百度网盘超级会员V3的分享在move_base.launch中增加:
<!-- move_base use Tinymal planner-->
<group if="$(eval planner == 'tinymal')">
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<rosparam file="$(find robot_vslam)/param/Tinymal/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find robot_vslam)/param/Tinymal/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find robot_vslam)/param/Tinymal/local_costmap_params.yaml" command="load" />
<rosparam file="$(find robot_vslam)/param/Tinymal/global_costmap_params.yaml" command="load" />
<rosparam file="$(find robot_vslam)/param/Tinymal/move_base_params.yaml" command="load" />
<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<rosparam file="$(find robot_vslam)/param/Tinymal/teb_local_planner_params.yaml" command="load" />
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
</node>
</group>2023年3月5日
参数配置如下：
（1）TEB参数
TebLocalPlannerROS:
odom_topic: odom
# Trajectory
teb_autosize: True
dt_ref: 0.45
dt_hysteresis: 0.1
max_samples: 500
global_plan_overwrite_orientation: True
allow_init_with_backwards_motion: True
max_global_plan_lookahead_dist: 0.0
global_plan_viapoint_sep: 0.35
global_plan_prune_distance: 1
exact_arc_length: False
feasibility_check_no_poses: 5
publish_feedback: False
# Robot
max_vel_x: 0.25
max_vel_x_backwards: 0.15
max_vel_y: 0.2
max_vel_theta: 0.45 # the angular velocity is also bounded by min_turning_radius in case of a carlike robot (r = v / omega)
acc_lim_x: 0.2
acc_lim_y: 0.15
acc_lim_theta: 0.2
# ********************** Carlike robot parameters ********************
min_turning_radius: 0.15 # Min turning radius of the carlike robot (compute value using a model or adjust with rqt_reconfigure manually)
wheelbase: 0.1 # Wheelbase of our robot
cmd_angle_instead_rotvel: False # stage simulator takes the angle instead of the rotvel as input (twist message)
# ********************************************************************
footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
type: "line"
line_start: [-0.14, 0.0] # for type "line"
line_end: [0.14, 0.0] # for type "line"
# GoalTolerance
xy_goal_tolerance: 0.15
yaw_goal_tolerance: 0.57
free_goal_vel: False
complete_global_plan: True
# Obstacles
min_obstacle_dist: 0.2 # This value must also include our robot's expansion, since footprint_model is set to "line".
inflation_dist: 0.6
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.0
obstacle_poses_affected: 15
dynamic_obstacle_inflation_dist: 0.6
include_dynamic_obstacles: True
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 5
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
obstacle_cost_exponent: 4
weight_max_vel_x: 2
weight_max_vel_y: 1
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_y: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 0.1
weight_optimaltime: 2 # must be > 0
weight_shortest_path: 1
weight_obstacle: 100
weight_inflation: 0.2
weight_dynamic_obstacle: 10 # not in use yet
weight_dynamic_obstacle_inflation: 0.2
weight_viapoint: 1
weight_adapt_factor: 2
# Homotopy Class Planner
enable_homotopy_class_planning: False
enable_multithreading: True
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_prefer_initial_plan: 0.95
selection_obst_cost_scale: 1.0
selection_alternative_time_cost: False
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
roadmap_graph_area_length_scale: 1.0
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_heading_threshold: 0.45
switching_blocking_period: 0.0
viapoints_all_candidates: True
delete_detours_backwards: True
max_ratio_detours_duration_best_duration: 3.0
visualize_hc_graph: False
visualize_with_time_as_z_axis_scale: False
# Recovery
shrink_horizon_backup: True
shrink_horizon_min_duration: 10
oscillation_recovery: True
oscillation_v_eps: 0.1
oscillation_omega_eps: 0.1
oscillation_recovery_min_duration: 10
oscillation_filter_duration: 10（2）move base
controller_frequency: 5.0
controller_patience: 3.0
planner_frequency: 2
planner_patience: 5.0
conservative_reset_dist: 3.0
oscillation_timeout: 1000.0
oscillation_distance: 0.35
clearing_rotation_allowed: false (3)local cost
local_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 15.0
publish_frequency: 10.0
rolling_window: true
width: 2.5
height: 2.5
resolution: 0.05
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}(4)global planner
GlobalPlanner:
allow_unknown: true
default_tolerance: 0.2
use_grid_path: false
use_quadratic: true
old_navfn_behavior: false
lethal_cost: 253
neutral_cost: 50
cost_factor: 3
publish_potential: true
orientation_mode: 2
orientation_window_size: 1
outline_map: true
visualize_potential: false(5)costmap common
#---standard pioneer footprint---
#---(in meters)---
footprint: [ [-0.15,-0.13], [0.15,-0.13], [0.15,0.13], [-0.15,0.13] ]
transform_tolerance: 0.2
always_send_full_costmap: true
obstacle_layer:
enabled: true
obstacle_range: 3.0
raytrace_range: 4.0
inflation_radius: 0.2
track_unknown_space: true
combination_method: 1
observation_sources: laser_scan_sensor
laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
inflation_layer:
enabled: true
cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.5 # max. distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
map_topic: "/map"(6)global cost
global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 2.0
publish_frequency: 1.0
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
https://blog.csdn.net/allenhsu6/article/details/113523546
2023年3月7日
相比之前版本优化参数，之前在走直线中会互相超调晃动导致机器人移动效率低，这个版本参数优化了该问题，但是会导致机器人在终点处倒车
TebLocalPlannerROS:
odom_topic: odom
# Trajectory
teb_autosize: True
dt_ref: 0.45
dt_hysteresis: 0.045
max_samples: 500
global_plan_overwrite_orientation: True
allow_init_with_backwards_motion: True
max_global_plan_lookahead_dist: 0.0
global_plan_viapoint_sep: 0.16
global_plan_prune_distance: 1
exact_arc_length: False
feasibility_check_no_poses: 5
publish_feedback: False
# Robot
max_vel_x: 0.3
max_vel_x_backwards: 0.25
max_vel_y: 0.2
max_vel_theta: 0.45 # the angular velocity is also bounded by min_turning_radius in case of a carlike robot (r = v / omega)
acc_lim_x: 0.2
acc_lim_y: 0.15
acc_lim_theta: 0.35
# ********************** Carlike robot parameters ********************
min_turning_radius: 0.15 # Min turning radius of the carlike robot (compute value using a model or adjust with rqt_reconfigure manually)
wheelbase: 0.01 # Wheelbase of our robot
cmd_angle_instead_rotvel: False # stage simulator takes the angle instead of the rotvel as input (twist message)
# ********************************************************************
footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
type: "line"
line_start: [-0.14, 0.0] # for type "line"
line_end: [0.14, 0.0] # for type "line"
# GoalTolerance
xy_goal_tolerance: 0.15
yaw_goal_tolerance: 1.57
free_goal_vel: False
complete_global_plan: True
# Obstacles
min_obstacle_dist: 0.2 # This value must also include our robot's expansion, since footprint_model is set to "line".
inflation_dist: 0.6
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.0
obstacle_poses_affected: 15
dynamic_obstacle_inflation_dist: 0.6
include_dynamic_obstacles: True
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 5
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
obstacle_cost_exponent: 4
weight_max_vel_x: 2
weight_max_vel_y: 1
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_y: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 2 # must be > 0
weight_shortest_path: 1
weight_obstacle: 100
weight_inflation: 0.2
weight_dynamic_obstacle: 10 # not in use yet
weight_dynamic_obstacle_inflation: 0.2
weight_viapoint: 1
weight_adapt_factor: 2
# Homotopy Class Planner
enable_homotopy_class_planning: False
enable_multithreading: True
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_prefer_initial_plan: 0.95
selection_obst_cost_scale: 1.0
selection_alternative_time_cost: False
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
roadmap_graph_area_length_scale: 1.0
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_heading_threshold: 0.45
switching_blocking_period: 0.0
viapoints_all_candidates: True
delete_detours_backwards: True
max_ratio_detours_duration_best_duration: 3.0
visualize_hc_graph: False
visualize_with_time_as_z_axis_scale: False
# Recovery
shrink_horizon_backup: True
shrink_horizon_min_duration: 10
oscillation_recovery: True
oscillation_v_eps: 0.1
oscillation_omega_eps: 0.1
oscillation_recovery_min_duration: 10
oscillation_filter_duration: 10
