hubero_ros - navigation params adjusted for more robust operation

rayvburn · Feb 22, 2023 · 35fd699 · 35fd699
1 parent 5549327
commit 35fd699
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Showing 6 changed files with 11 additions and 11 deletions.
diff --git a/hubero_ros/config/planning/common/global_costmap.yaml b/hubero_ros/config/planning/common/global_costmap.yaml
@@ -37,7 +37,7 @@ global_costmap:
       # NOTE: 'topic' is overwritten by .launch file
       topic: scan
       expected_update_rate: 0.3
-      observation_persistence: 1.0
+      observation_persistence: 0.0
       inf_is_valid: true
       marking: true
       clearing: true

diff --git a/hubero_ros/config/planning/common/local_costmap.yaml b/hubero_ros/config/planning/common/local_costmap.yaml
@@ -33,7 +33,7 @@ local_costmap:
       # NOTE: 'topic' is overwritten by .launch file
       topic: scan
       expected_update_rate: 0.3
-      observation_persistence: 1.0
+      observation_persistence: 0.0
       inf_is_valid: true
       marking: true
       clearing: true

diff --git a/hubero_ros/config/planning/common/move_base.yaml b/hubero_ros/config/planning/common/move_base.yaml
@@ -1,15 +1,15 @@
 planner_frequency: 1.0
-planner_patience: 0.1
+planner_patience: 5.0
 
 controller_frequency: 2.0
-controller_patience:  3.0
+controller_patience:  10.0
 
-oscillation_timeout: 10.0
+oscillation_timeout: 20.0
 oscillation_distance:  0.2
 
 recovery_behavior_enabled: true
 shutdown_costmaps: false
 
 search_alternative_goals: true
-alternative_goals_thresh: 0.5
+alternative_goals_thresh: 1.5
 latch_xy_goal_tolerance: true
diff --git a/hubero_ros/config/planning/teb/local_planner.yaml b/hubero_ros/config/planning/teb/local_planner.yaml
@@ -19,10 +19,10 @@ TebLocalPlannerROS:
   allow_init_with_backwards_motion: false
 
   # Robot
-  max_vel_x: 0.5
+  max_vel_x: 1.5
   max_vel_x_backwards: 0.15
   max_vel_theta: 0.6
-  acc_lim_x: 0.2
+  acc_lim_x: 1.0
   acc_lim_theta: !degrees 45.0
   is_footprint_dynamic: true
   footprint_model:

diff --git a/hubero_ros/config/planning/trajectory/local_planner.yaml b/hubero_ros/config/planning/trajectory/local_planner.yaml
@@ -4,7 +4,7 @@ TrajectoryPlannerROS:
   # Acceleration limits
   acc_lim_th: !degrees 60.0
   acc_lim_theta: !degrees 60.0
-  acc_lim_x: 0.8
+  acc_lim_x: 1.0
   acc_lim_y: 0.0
 
   # Velocity limits

diff --git a/hubero_ros/launch/actor.launch b/hubero_ros/launch/actor.launch
@@ -6,9 +6,9 @@
 
     <!-- Planners -->
     <!-- NOTE: suffixes enable to differentiate planner parameters between actors -->
-    <arg name="global_planner" default="global_planner"/>
+    <arg name="global_planner" default="navfn"/>
     <arg name="global_planner_suffix" default=""/>
-    <arg name="local_planner" default="dwa"/>
+    <arg name="local_planner" default="teb"/>
     <arg name="local_planner_suffix" default=""/>
 
     <!-- allows running with gdb -->