From d7bbae2f43fe0e36490d48664e76369209c4df43 Mon Sep 17 00:00:00 2001 From: shunki1006 Date: Mon, 6 Nov 2023 07:03:30 +0000 Subject: [PATCH 01/10] fix_nav2_param --- orange_navigation/config/navigation2_params.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml index c23314a..080b8ee 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -24,8 +24,8 @@ amcl: laser_model_type: "likelihood_field" set_initial_pose: True initial_pose: {x: 0.0, y: 0.0, z: 0.0, yaw: 0.0} - max_beams: 100 - max_particles: 500 + max_beams: 300 + max_particles: 1500 min_particles: 500 odom_frame_id: "odom" pf_err: 0.05 @@ -125,7 +125,7 @@ controller_server: stateful: True plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 - yaw_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.50 FollowPath: plugin: "dwb_core::DWBLocalPlanner" @@ -169,7 +169,7 @@ controller_server: GoalDist.scale: 24.0 ObstacleFootprint.scale: 32.0 RotateToGoal.scale: 32.0 - RotateToGoal.slowing_factor: 5.0 + RotateToGoal.slowing_factor: -1.0 RotateToGoal.lookahead_time: -1.0 controller_server_rclcpp_node: From 6e893469847b50b79ea53d9906ee3bbbb8a15ae5 Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Tue, 7 Nov 2023 20:21:44 +0900 Subject: [PATCH 02/10] fix_RotateToGoalCritic_param --- orange_navigation/config/navigation2_params.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml index 080b8ee..8236a0c 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -168,9 +168,11 @@ controller_server: PathDist.scale: 32.0 GoalDist.scale: 24.0 ObstacleFootprint.scale: 32.0 - RotateToGoal.scale: 32.0 - RotateToGoal.slowing_factor: -1.0 + RotateToGoal.xy_goal_tolerance: 0.25 + RotateToGoal.trans_stopped_velocity: 0.25 + RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0 + RotateToGoal.scale: 1.0 controller_server_rclcpp_node: ros__parameters: From 6948943f4fbce73aed73b89f58a78a4e8f4a0891 Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Tue, 7 Nov 2023 20:27:20 +0900 Subject: [PATCH 03/10] fix_OscillationCritic_param --- orange_navigation/config/navigation2_params.yaml | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml index 8236a0c..9d55ce2 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -157,9 +157,6 @@ controller_server: short_circuit_trajectory_evaluation: True stateful: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] - Oscillation_reset_dist: 1.0 - Oscillation_reset_angle: -1.0 - Oscillation_reset_time: -1.0 BaseObstacle.scale: 0.02 PathAlign.scale: 50.0 PathAlign.forward_point_distance: 1.0 @@ -173,6 +170,11 @@ controller_server: RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0 RotateToGoal.scale: 1.0 + Oscillation.oscillation_reset_dist: 0.05 + Oscillation.oscillation_reset_angle: 0.2 + Oscillation.oscillation_reset_time: -1.0 + Oscillation.x_only_threshold: 0.05 + Oscillation.scale: 1.0 controller_server_rclcpp_node: ros__parameters: From c4f6120475c9bd9f4b4729e9a4d30fe90d3a95f7 Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Tue, 7 Nov 2023 20:28:59 +0900 Subject: [PATCH 04/10] fix_BaseObstacleCritic --- orange_navigation/config/navigation2_params.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml index 9d55ce2..711d267 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -157,7 +157,6 @@ controller_server: short_circuit_trajectory_evaluation: True stateful: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] - BaseObstacle.scale: 0.02 PathAlign.scale: 50.0 PathAlign.forward_point_distance: 1.0 GoalAlign.scale: 24.0 @@ -175,6 +174,8 @@ controller_server: Oscillation.oscillation_reset_time: -1.0 Oscillation.x_only_threshold: 0.05 Oscillation.scale: 1.0 + BaseObstacle.sum_scores: false + BaseObstacle.scale: 0.02 controller_server_rclcpp_node: ros__parameters: From ff197323cc8ed3a809488b8ad6f3458cffb9fc3b Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Tue, 7 Nov 2023 20:30:34 +0900 Subject: [PATCH 05/10] fix_GoalAlignCritic --- orange_navigation/config/navigation2_params.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml index 711d267..dbd257d 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -159,8 +159,6 @@ controller_server: critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] PathAlign.scale: 50.0 PathAlign.forward_point_distance: 1.0 - GoalAlign.scale: 24.0 - GoalAlign.forward_point_distance: 0.1 PathDist.scale: 32.0 GoalDist.scale: 24.0 ObstacleFootprint.scale: 32.0 @@ -176,6 +174,9 @@ controller_server: Oscillation.scale: 1.0 BaseObstacle.sum_scores: false BaseObstacle.scale: 0.02 + GoalAlign.forward_point_distance: 0.1 + GoalAlign.aggregation_type: "last" + GoalAlign.scale: 24.0 controller_server_rclcpp_node: ros__parameters: From d5e644735b63215daeefe8a10137e4a4ad221a47 Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Tue, 7 Nov 2023 20:32:07 +0900 Subject: [PATCH 06/10] fix_PathAlignCritic --- orange_navigation/config/navigation2_params.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml index dbd257d..2e4a9bd 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -157,8 +157,6 @@ controller_server: short_circuit_trajectory_evaluation: True stateful: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] - PathAlign.scale: 50.0 - PathAlign.forward_point_distance: 1.0 PathDist.scale: 32.0 GoalDist.scale: 24.0 ObstacleFootprint.scale: 32.0 @@ -177,6 +175,9 @@ controller_server: GoalAlign.forward_point_distance: 0.1 GoalAlign.aggregation_type: "last" GoalAlign.scale: 24.0 + PathAlign.forward_point_distance: 1.0 + PathAlign.aggregation_type: "last" + PathAlign.scale: 50.0 controller_server_rclcpp_node: ros__parameters: From 8df3ae3778938269c37506bed0001d26cd00e99a Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Tue, 7 Nov 2023 20:33:11 +0900 Subject: [PATCH 07/10] fix_PathDistCritic --- orange_navigation/config/navigation2_params.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml index 2e4a9bd..b4853e3 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -157,7 +157,6 @@ controller_server: short_circuit_trajectory_evaluation: True stateful: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] - PathDist.scale: 32.0 GoalDist.scale: 24.0 ObstacleFootprint.scale: 32.0 RotateToGoal.xy_goal_tolerance: 0.25 @@ -178,6 +177,8 @@ controller_server: PathAlign.forward_point_distance: 1.0 PathAlign.aggregation_type: "last" PathAlign.scale: 50.0 + PathAlign.aggregation_type: "last" + PathDist.scale: 32.0 controller_server_rclcpp_node: ros__parameters: From b69bc4cedfc7952a64c978f10f71fc0ff4b6d739 Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Tue, 7 Nov 2023 20:35:38 +0900 Subject: [PATCH 08/10] fix_GoalDistCritic --- orange_navigation/config/navigation2_params.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml index b4853e3..cb165c9 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -157,8 +157,6 @@ controller_server: short_circuit_trajectory_evaluation: True stateful: True critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] - GoalDist.scale: 24.0 - ObstacleFootprint.scale: 32.0 RotateToGoal.xy_goal_tolerance: 0.25 RotateToGoal.trans_stopped_velocity: 0.25 RotateToGoal.slowing_factor: 5.0 @@ -179,6 +177,8 @@ controller_server: PathAlign.scale: 50.0 PathAlign.aggregation_type: "last" PathDist.scale: 32.0 + GoalDist.aggregation_type: "last" + GoalDist.scale: 24.0 controller_server_rclcpp_node: ros__parameters: From ee79bc123b693d9dd57bacb01d07a65b5f92e016 Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Tue, 7 Nov 2023 20:39:21 +0900 Subject: [PATCH 09/10] fix_ObstacleFootprint_param --- orange_navigation/config/navigation2_params.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml index cb165c9..1210973 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -156,7 +156,7 @@ controller_server: trans_stopped_velocity: 0.25 short_circuit_trajectory_evaluation: True stateful: True - critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "ObstacleFootprint"] RotateToGoal.xy_goal_tolerance: 0.25 RotateToGoal.trans_stopped_velocity: 0.25 RotateToGoal.slowing_factor: 5.0 @@ -179,6 +179,8 @@ controller_server: PathDist.scale: 32.0 GoalDist.aggregation_type: "last" GoalDist.scale: 24.0 + ObstacleFootprint.sum_scores: false + ObstacleFootprint.scale: 32.0 controller_server_rclcpp_node: ros__parameters: From ca382bab9bfddc2d3aa35f9c78d8ff70b64edf29 Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Tue, 7 Nov 2023 21:39:31 +0900 Subject: [PATCH 10/10] Update navigation2_params.yaml --- orange_navigation/config/navigation2_params.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml index 1210973..4ea2078 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -175,7 +175,7 @@ controller_server: PathAlign.forward_point_distance: 1.0 PathAlign.aggregation_type: "last" PathAlign.scale: 50.0 - PathAlign.aggregation_type: "last" + PathDist.aggregation_type: "last" PathDist.scale: 32.0 GoalDist.aggregation_type: "last" GoalDist.scale: 24.0