Merge pull request #83 from KBKN-Autonomous-Robotics-Lab/fix/tsukuba_…

…navigation Fix/tsukuba navigation
KBKN-Autonomous-Robotics-Lab · Nov 21, 2023 · 31ef517 · 31ef517
2 parents 352136f + 72ecc99
commit 31ef517
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Showing 4 changed files with 11 additions and 11 deletions.
diff --git a/...config/navigation2_params_from_left .yaml → .../config/navigation2_params_from_left.yaml b/...config/navigation2_params_from_left .yaml → .../config/navigation2_params_from_left.yaml
@@ -23,7 +23,7 @@ amcl:
     laser_min_range: -1.0
     laser_model_type: "likelihood_field"
     set_initial_pose: True
-    initial_pose: {x: 0.0, y: 2.0, z: 0.0, yaw: 0.0}
+    initial_pose: {x: 0.0, y: 4.2, z: 0.0, yaw: 0.0}
     max_beams: 300
     max_particles: 1500
     min_particles: 500
@@ -124,8 +124,8 @@ controller_server:
     general_goal_checker:
       stateful: True
       plugin: "nav2_controller::SimpleGoalChecker"
-      xy_goal_tolerance: 0.25
-      yaw_goal_tolerance: 0.50
+      xy_goal_tolerance: 0.10
+      yaw_goal_tolerance: 0.10
 
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"
@@ -198,7 +198,7 @@ local_costmap:
       width: 8
       height: 8
       resolution: 0.05
-      footprint: "[ [0.40, 0.45], [0.40, -0.45], [-0.70, -0.45], [-0.70, 0.45] ]"
+      footprint: "[ [0.20, 0.33], [0.20, -0.33], [-0.65, -0.33], [-0.65, 0.33] ]"
       plugins: ["obstacle_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"

diff --git a/orange_navigation/config/navigation2_params_from_right.yaml b/orange_navigation/config/navigation2_params_from_right.yaml
@@ -124,8 +124,8 @@ controller_server:
     general_goal_checker:
       stateful: True
       plugin: "nav2_controller::SimpleGoalChecker"
-      xy_goal_tolerance: 0.25
-      yaw_goal_tolerance: 0.50
+      xy_goal_tolerance: 0.10
+      yaw_goal_tolerance: 0.10
 
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"
@@ -198,7 +198,7 @@ local_costmap:
       width: 8
       height: 8
       resolution: 0.05
-      footprint: "[ [0.40, 0.45], [0.40, -0.45], [-0.70, -0.45], [-0.70, 0.45] ]"
+      footprint: "[ [0.20, 0.33], [0.20, -0.33], [-0.65, -0.33], [-0.65, 0.33] ]"
       plugins: ["obstacle_layer", "inflation_layer"]
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"

diff --git a/orange_navigation/launch/multi_map_navigation.launch.xml b/orange_navigation/launch/multi_map_navigation.launch.xml
@@ -11,7 +11,7 @@
   <arg name="world_frame" default="map"/>
   <arg name="robot_frame" default="base_footprint"/>
   <arg name="min_dist_err" default="0.3"/>
-  <arg name="min_yaw_err" default="0.3"/>
+  <arg name="min_yaw_err" default="0.5"/>
   <arg name="from_middle" default="false"/>
   <arg name="tandem_scan" default="merged_scan"/>
   <arg name="use_angle" default="20.0"/>

diff --git a/orange_navigation/launch/waypoint_navigation.launch.xml b/orange_navigation/launch/waypoint_navigation.launch.xml
@@ -2,14 +2,14 @@
 <launch>
   <!-- Arguments -->
   <arg name="use_sim_time" default="false"/>
-  <arg name="kbkn_maps_path" default="hosei/m2/courtyard_Senior.yaml"/>
+  <arg name="kbkn_maps_path" default="tsukuba/m2/confirmation_run_Senior.yaml"/>
   <arg name="map_file_path" default="$(find-pkg-share kbkn_maps)/maps/$(var kbkn_maps_path)"/>
   <arg name="waypoints_file" default="$(find-pkg-share kbkn_maps)/waypoints/$(var kbkn_maps_path)"/>
-  <arg name="config_file_path" default="$(find-pkg-share orange_navigation)/config/navigation2_params.yaml"/>
+  <arg name="config_file_path" default="$(find-pkg-share orange_navigation)/config/navigation2_params_from_left.yaml"/>
   <arg name="world_frame" default="map"/>
   <arg name="robot_frame" default="base_footprint"/>
   <arg name="min_dist_err" default="0.3"/>
-  <arg name="min_yaw_err" default="0.3"/>
+  <arg name="min_yaw_err" default="0.5"/>
   <arg name="from_middle" default="false"/>
   <arg name="tandem_scan" default="merged_scan"/>
   <arg name="use_angle" default="20.0"/>