From 607f826d7c23ae4a5ff2d1d03169bcada0511236 Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Mon, 1 Jan 2024 20:32:42 +0900
Subject: [PATCH 1/3] update copyright year

---
 scripts/vgraph_planner.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/vgraph_planner.py b/scripts/vgraph_planner.py
index fb55943..3496683 100755
--- a/scripts/vgraph_planner.py
+++ b/scripts/vgraph_planner.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 
-# Copyright (C) 2023  Alapaca-zip
+# Copyright (C) 2023-2024  Alapaca-zip
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

From 7953939e3605feb898ea5424064ddab813ab6283 Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Mon, 1 Jan 2024 20:39:29 +0900
Subject: [PATCH 2/3] update robot radius parameter in vgraph planner

---
 launch/include/vgraph_planner.launch       |  4 ++--
 launch/turtlebot3_vgraph_navigation.launch |  4 ++--
 scripts/vgraph_planner.py                  | 10 +++++-----
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/launch/include/vgraph_planner.launch b/launch/include/vgraph_planner.launch
index 59fec89..5ccbbe3 100644
--- a/launch/include/vgraph_planner.launch
+++ b/launch/include/vgraph_planner.launch
@@ -3,7 +3,7 @@
   <arg name="map_file" default="$(find vgraph_nav)/map/map.yaml"/>
   <arg name="test_folder" default="$(find vgraph_nav)/test"/>
   <arg name="down_scale_factor" default="0.1"/>
-  <arg name="clearance" default="0.1"/>
+  <arg name="robot_radius" default="0.1"/>
   <arg name="odom_topic" default="/odom"/>
   <arg name="scan_topic" default="/scan"/>
   <arg name="vel_linear" default="0.1"/>
@@ -16,7 +16,7 @@
     <param name="~map_file" value="$(arg map_file)"/>
     <param name="~test_folder" value="$(arg test_folder)"/>
     <param name="~down_scale_factor" value="$(arg down_scale_factor)"/>
-    <param name="~clearance" value="$(arg clearance)"/>
+    <param name="~robot_radius" value="$(arg robot_radius)"/>
     <param name="~odom_topic" value="$(arg odom_topic)"/>
     <param name="~scan_topic" value="$(arg scan_topic)"/>
     <param name="~vel_linear" value="$(arg vel_linear)"/>
diff --git a/launch/turtlebot3_vgraph_navigation.launch b/launch/turtlebot3_vgraph_navigation.launch
index a7ec53a..47f4921 100644
--- a/launch/turtlebot3_vgraph_navigation.launch
+++ b/launch/turtlebot3_vgraph_navigation.launch
@@ -7,7 +7,7 @@
   <arg name="map_file" default="$(find vgraph_nav)/maps/map.yaml"/>
   <arg name="test_folder" default="$(find vgraph_nav)/test"/>
   <arg name="down_scale_factor" default="0.3"/>
-  <arg name="clearance" default="0.15"/>
+  <arg name="robot_radius" default="0.15"/>
   <arg name="odom_topic" default="/odom"/>
   <arg name="scan_topic" default="/scan"/>
   <arg name="vel_linear" default="0.1"/>
@@ -39,7 +39,7 @@
     <arg name="map_file" value="$(arg map_file)"/>
     <arg name="test_folder" value="$(arg test_folder)"/>
     <arg name="down_scale_factor" value="$(arg down_scale_factor)"/>
-    <arg name="clearance" value="$(arg clearance)"/>
+    <arg name="robot_radius" value="$(arg robot_radius)"/>
     <arg name="odom_topic" value="$(arg odom_topic)"/>
     <arg name="scan_topic" value="$(arg scan_topic)"/>
     <arg name="vel_linear" value="$(arg vel_linear)"/>
diff --git a/scripts/vgraph_planner.py b/scripts/vgraph_planner.py
index 3496683..7b10ca0 100755
--- a/scripts/vgraph_planner.py
+++ b/scripts/vgraph_planner.py
@@ -35,7 +35,7 @@ def __init__(self):
         self.map_file_path = rospy.get_param("~map_file", "map.yaml")
         self.test_folder_path = rospy.get_param("~test_folder", "test")
         self.down_scale_factor = rospy.get_param("~down_scale_factor", 0.1)
-        self.clearance = rospy.get_param("~clearance", 0.1)
+        self.robot_radius = rospy.get_param("~robot_radius", 0.1)
         self.odom_topic = rospy.get_param("~odom_topic", "/odom")
         self.scan_topic = rospy.get_param("~scan_topic", "/scan")
         self.vel_linear = rospy.get_param("~vel_linear", 0.1)
@@ -98,7 +98,7 @@ def change_image_resolution(self, image, factor):
         black_pixels = self.find_black_pixels(image)
 
         enlarged_image, black_pixels = self.enlarge_black_pixels(
-            image, black_pixels, self.clearance
+            image, black_pixels, self.robot_radius
         )
 
         down_scaled_image = enlarged_image.resize(
@@ -665,14 +665,14 @@ def send_stop(self):
             rospy.sleep(0.1)
 
     def check_obstacle(self):
-        if self.clearance < self.range_min:
+        if self.robot_radius < self.range_min:
             rospy.logwarn(
-                "Clearance is smaller than range_min. Please check the parameters."
+                "robot_radius is smaller than range_min. Please check the parameters."
             )
             return False
 
         for distance in self.scan_data:
-            if self.range_min < distance < self.clearance:
+            if self.range_min < distance < self.robot_radius:
                 return True
 
         return False

From f181ce37f93107cfca23092a29899c32faa62fb3 Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Mon, 1 Jan 2024 20:47:24 +0900
Subject: [PATCH 3/3] update robot radius parameter for obstacle detection

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index f6e04a8..44ad3e1 100644
--- a/README.md
+++ b/README.md
@@ -37,7 +37,7 @@ More info : [e-Manual](https://emanual.robotis.com/docs/en/platform/turtlebot3/n
 - `~map_file`: Path to the configuration file (yaml) for the occupancy grid map.
 - `~test_folder`: A debug folder primarily used for debugging the Visibility Graph algorithm.
 - `~down_scale_factor`: A factor for downscaling the occupancy grid map. Please reduce this value if optimization is taking too long.
-- `~clearance`: The required clearance for the robot to navigate. It has to be at least half the maximum width of the robot. This is also used for obstacle detection.
+- `~robot_radius`: Specifies the radius of the robot. This is mainly used for obstacle detection.
 - `~odom_topic`: The name of the odometry topic.
 - `~scan_topic`: The name of the LaserScan topic.
 - `~vel_linear`: Linear velocity.