From 0ba14b182980f88091407a4696505b482ebb65e3 Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Wed, 8 Nov 2023 14:28:58 +0900 Subject: [PATCH 1/7] fix_max_rpm_param --- orange_bringup/config/motor_driver_params.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/orange_bringup/config/motor_driver_params.yaml b/orange_bringup/config/motor_driver_params.yaml index bc42f1e..6e09263 100644 --- a/orange_bringup/config/motor_driver_params.yaml +++ b/orange_bringup/config/motor_driver_params.yaml @@ -25,10 +25,10 @@ motor_driver_node: set_decel_time_right: 200 # ms # Maximum rpm - max_left_rpm: 100 - max_right_rpm: 100 + max_left_rpm: 150 #100 + max_right_rpm: 150 #100 # Width of rpm to be regarded as 0 # If 3, then -3 to 3 is considered rpm 0 deadband_rpm: 3 - #Max speed = {max_rpm * (2pi/60)}*wheel_radius = 1.023m/s + #Max speed = {max_rpm * (2pi/60)}*wheel_radius = 1.535m/s = 5.524km/h From ccf8aca636afa8831ea20b138012736882453b6c Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Wed, 8 Nov 2023 14:47:38 +0900 Subject: [PATCH 2/7] fix_velocity_param_in_nav2params --- orange_navigation/config/navigation2_params.yaml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml index 4ea2078..f6b26fe 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -133,16 +133,16 @@ controller_server: debug_trajectory_details: True min_vel_x: 0.0 min_vel_y: 0.0 - max_vel_x: 1.0 + max_vel_x: 1.5 #1.0 max_vel_y: 0.0 max_vel_theta: 0.5 min_speed_xy: 0.0 - max_speed_xy: 1.0 + max_speed_xy: 1.5 #1.0 min_speed_theta: 0.0 - acc_lim_x: 0.5 + acc_lim_x: 0.75 #0.5 acc_lim_y: 0.0 acc_lim_theta: 0.5 - decel_lim_x: -0.5 + decel_lim_x: -0.75 #-0.5 decel_lim_y: 0.0 decel_lim_theta: -0.5 vx_samples: 10 @@ -335,10 +335,10 @@ velocity_smoother: smoothing_frequency: 20.0 scale_velocities: False feedback: "OPEN_LOOP" - max_velocity: [1.0, 0.0, 1.0] + max_velocity: [1.5, 0.0, 0.5]　#[1.0, 0.0, 1.0] min_velocity: [-1.0, 0.0, -1.0] - max_accel: [0.5, 0.0, 0.5] - max_decel: [-0.5, 0.0, -0.5] + max_accel: [0.75, 0.0, 0.5] #[0.5, 0.0, 0.5] + max_decel: [-0.75, 0.0, -0.5] #[-0.5, 0.0, -0.5] odom_topic: "odom" odom_duration: 0.1 deadband_velocity: [0.0, 0.0, 0.0] From 39709d2dfaeef24aeccaf0e0efc008d0f6444f6c Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Wed, 8 Nov 2023 14:53:35 +0900 Subject: [PATCH 3/7] fix_comment_out_bug --- 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 f6b26fe..20227db 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -335,7 +335,7 @@ velocity_smoother: smoothing_frequency: 20.0 scale_velocities: False feedback: "OPEN_LOOP" - max_velocity: [1.5, 0.0, 0.5]　#[1.0, 0.0, 1.0] + max_velocity: [1.5, 0.0, 0.5] #[1.0, 0.0, 1.0] min_velocity: [-1.0, 0.0, -1.0] max_accel: [0.75, 0.0, 0.5] #[0.5, 0.0, 0.5] max_decel: [-0.75, 0.0, -0.5] #[-0.5, 0.0, -0.5] From 2343614972100f4e0c4cbaca44436615d1744ac4 Mon Sep 17 00:00:00 2001 From: shunki1006 Date: Wed, 8 Nov 2023 08:39:25 +0000 Subject: [PATCH 4/7] fix_critics_&_velocity --- .../config/navigation2_params.yaml | 30 +++++++++---------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml index 20227db..623fb83 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -133,16 +133,16 @@ controller_server: debug_trajectory_details: True min_vel_x: 0.0 min_vel_y: 0.0 - max_vel_x: 1.5 #1.0 + max_vel_x: 1.5 max_vel_y: 0.0 max_vel_theta: 0.5 min_speed_xy: 0.0 - max_speed_xy: 1.5 #1.0 + max_speed_xy: 1.5 min_speed_theta: 0.0 - acc_lim_x: 0.75 #0.5 + acc_lim_x: 0.5 acc_lim_y: 0.0 acc_lim_theta: 0.5 - decel_lim_x: -0.75 #-0.5 + decel_lim_x: -0.5 decel_lim_y: 0.0 decel_lim_theta: -0.5 vx_samples: 10 @@ -168,19 +168,19 @@ controller_server: Oscillation.x_only_threshold: 0.05 Oscillation.scale: 1.0 BaseObstacle.sum_scores: false - BaseObstacle.scale: 0.02 - GoalAlign.forward_point_distance: 0.1 + BaseObstacle.scale: 1.0 + GoalAlign.forward_point_distance: 0.325 GoalAlign.aggregation_type: "last" - GoalAlign.scale: 24.0 - PathAlign.forward_point_distance: 1.0 + GoalAlign.scale: 1.0 + PathAlign.forward_point_distance: 0.325 PathAlign.aggregation_type: "last" - PathAlign.scale: 50.0 + PathAlign.scale: 1.0 PathDist.aggregation_type: "last" - PathDist.scale: 32.0 + PathDist.scale: 1.0 GoalDist.aggregation_type: "last" - GoalDist.scale: 24.0 + GoalDist.scale: 1.0 ObstacleFootprint.sum_scores: false - ObstacleFootprint.scale: 32.0 + ObstacleFootprint.scale: 1.0 controller_server_rclcpp_node: ros__parameters: @@ -335,10 +335,10 @@ velocity_smoother: smoothing_frequency: 20.0 scale_velocities: False feedback: "OPEN_LOOP" - max_velocity: [1.5, 0.0, 0.5] #[1.0, 0.0, 1.0] + max_velocity: [1.5, 0.0, 0.5] min_velocity: [-1.0, 0.0, -1.0] - max_accel: [0.75, 0.0, 0.5] #[0.5, 0.0, 0.5] - max_decel: [-0.75, 0.0, -0.5] #[-0.5, 0.0, -0.5] + max_accel: [0.5, 0.0, 0.5] + max_decel: [-0.5, 0.0, -0.5] odom_topic: "odom" odom_duration: 0.1 deadband_velocity: [0.0, 0.0, 0.0] From 699b0f47decc90f8e1bd7b2a33d1f31239151385 Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Wed, 8 Nov 2023 17:45:20 +0900 Subject: [PATCH 5/7] Update motor_driver_params.yaml --- orange_bringup/config/motor_driver_params.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/orange_bringup/config/motor_driver_params.yaml b/orange_bringup/config/motor_driver_params.yaml index 6e09263..78ca533 100644 --- a/orange_bringup/config/motor_driver_params.yaml +++ b/orange_bringup/config/motor_driver_params.yaml @@ -25,8 +25,8 @@ motor_driver_node: set_decel_time_right: 200 # ms # Maximum rpm - max_left_rpm: 150 #100 - max_right_rpm: 150 #100 + max_left_rpm: 150 + max_right_rpm: 150 # Width of rpm to be regarded as 0 # If 3, then -3 to 3 is considered rpm 0 deadband_rpm: 3 From 4354f375af4369df94fd3fc0260b9ed69ea4e989 Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Wed, 8 Nov 2023 23:14:39 +0900 Subject: [PATCH 6/7] Update motor_driver_params.yaml --- orange_bringup/config/motor_driver_params.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/orange_bringup/config/motor_driver_params.yaml b/orange_bringup/config/motor_driver_params.yaml index 78ca533..fa77064 100644 --- a/orange_bringup/config/motor_driver_params.yaml +++ b/orange_bringup/config/motor_driver_params.yaml @@ -25,10 +25,10 @@ motor_driver_node: set_decel_time_right: 200 # ms # Maximum rpm - max_left_rpm: 150 - max_right_rpm: 150 + max_left_rpm: 162 + max_right_rpm: 162 # Width of rpm to be regarded as 0 # If 3, then -3 to 3 is considered rpm 0 deadband_rpm: 3 - #Max speed = {max_rpm * (2pi/60)}*wheel_radius = 1.535m/s = 5.524km/h + #Max speed = {max_rpm * (2pi/60)}*wheel_radius = 1.656m/s = 5.962km/h From bcabe812b9f1c97b45be209e0e947a2d8e0b36fd Mon Sep 17 00:00:00 2001 From: shunki1006 <88425011+shunki1006@users.noreply.github.com> Date: Wed, 8 Nov 2023 23:16:20 +0900 Subject: [PATCH 7/7] Update navigation2_params.yaml --- orange_navigation/config/navigation2_params.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml index 623fb83..de7a84c 100644 --- a/orange_navigation/config/navigation2_params.yaml +++ b/orange_navigation/config/navigation2_params.yaml @@ -133,11 +133,11 @@ controller_server: debug_trajectory_details: True min_vel_x: 0.0 min_vel_y: 0.0 - max_vel_x: 1.5 + max_vel_x: 1.6 max_vel_y: 0.0 max_vel_theta: 0.5 min_speed_xy: 0.0 - max_speed_xy: 1.5 + max_speed_xy: 1.6 min_speed_theta: 0.0 acc_lim_x: 0.5 acc_lim_y: 0.0 @@ -335,7 +335,7 @@ velocity_smoother: smoothing_frequency: 20.0 scale_velocities: False feedback: "OPEN_LOOP" - max_velocity: [1.5, 0.0, 0.5] + max_velocity: [1.6, 0.0, 0.5] min_velocity: [-1.0, 0.0, -1.0] max_accel: [0.5, 0.0, 0.5] max_decel: [-0.5, 0.0, -0.5]