From 485b59d5fcd4e33951998afef4d96614345c7fb9 Mon Sep 17 00:00:00 2001
From: shunki1006 <shunki.shibuya.5v@stu.hosei.ac.jp>
Date: Mon, 20 Nov 2023 03:50:20 +0000
Subject: [PATCH 1/2] fix_Nav2_param_&_navigation_launch

---
 ..._from_left .yaml => navigation2_params_from_left.yaml} | 8 ++++----
 .../config/navigation2_params_from_right.yaml             | 2 +-
 orange_navigation/launch/multi_map_navigation.launch.xml  | 2 +-
 orange_navigation/launch/waypoint_navigation.launch.xml   | 2 +-
 4 files changed, 7 insertions(+), 7 deletions(-)
 rename orange_navigation/config/{navigation2_params_from_left .yaml => navigation2_params_from_left.yaml} (97%)

diff --git a/orange_navigation/config/navigation2_params_from_left .yaml b/orange_navigation/config/navigation2_params_from_left.yaml
similarity index 97%
rename from orange_navigation/config/navigation2_params_from_left .yaml
rename to orange_navigation/config/navigation2_params_from_left.yaml
index 975eebc..751e20c 100644
--- a/orange_navigation/config/navigation2_params_from_left .yaml	
+++ b/orange_navigation/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 #0.25
+      yaw_goal_tolerance: 0.10 #0.50
 
     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
index 73a21d9..b508220 100644
--- a/orange_navigation/config/navigation2_params_from_right.yaml
+++ b/orange_navigation/config/navigation2_params_from_right.yaml
@@ -258,7 +258,7 @@ global_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 2.0
-        inflation_radius: 1.5
+        inflation_radius: 3.0
       always_send_full_costmap: True
   global_costmap_client:
     ros__parameters:
diff --git a/orange_navigation/launch/multi_map_navigation.launch.xml b/orange_navigation/launch/multi_map_navigation.launch.xml
index fa95acb..7111b9f 100644
--- 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
index 5a806d4..c608d88 100644
--- a/orange_navigation/launch/waypoint_navigation.launch.xml
+++ b/orange_navigation/launch/waypoint_navigation.launch.xml
@@ -5,7 +5,7 @@
   <arg name="kbkn_maps_path" default="hosei/m2/courtyard_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"/>

From 72ecc99be429cfdd4c9f48e70188487313d967fb Mon Sep 17 00:00:00 2001
From: shunki1006 <shunki.shibuya.5v@stu.hosei.ac.jp>
Date: Mon, 20 Nov 2023 04:27:56 +0000
Subject: [PATCH 2/2] fix_nav2_param_&_launch_file_path

---
 .../config/navigation2_params_from_left.yaml              | 4 ++--
 .../config/navigation2_params_from_right.yaml             | 8 ++++----
 orange_navigation/launch/waypoint_navigation.launch.xml   | 4 ++--
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/orange_navigation/config/navigation2_params_from_left.yaml b/orange_navigation/config/navigation2_params_from_left.yaml
index 751e20c..e16dd22 100644
--- a/orange_navigation/config/navigation2_params_from_left.yaml
+++ b/orange_navigation/config/navigation2_params_from_left.yaml
@@ -124,8 +124,8 @@ controller_server:
     general_goal_checker:
       stateful: True
       plugin: "nav2_controller::SimpleGoalChecker"
-      xy_goal_tolerance: 0.10 #0.25
-      yaw_goal_tolerance: 0.10 #0.50
+      xy_goal_tolerance: 0.10
+      yaw_goal_tolerance: 0.10
 
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"
diff --git a/orange_navigation/config/navigation2_params_from_right.yaml b/orange_navigation/config/navigation2_params_from_right.yaml
index b508220..284db20 100644
--- 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"
@@ -258,7 +258,7 @@ global_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 2.0
-        inflation_radius: 3.0
+        inflation_radius: 1.5
       always_send_full_costmap: True
   global_costmap_client:
     ros__parameters:
diff --git a/orange_navigation/launch/waypoint_navigation.launch.xml b/orange_navigation/launch/waypoint_navigation.launch.xml
index c608d88..3c40cb5 100644
--- 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_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"/>