Merge pull request #14 from LCAS/nav_fixes

map update and nav fixes for improved robustness

src/limo_navigation/maps/assessment_map.yaml

@@ -1,7 +1,7 @@
 image: assessment_map.pgm
 mode: trinary
 resolution: 0.05
-origin: [-1.51, -0.758, 0]
+origin: [-1.51, -1.31, 0]
 negate: 0
 occupied_thresh: 0.65
 free_thresh: 0.25

src/limo_navigation/params/nav2_params.yaml

@@ -1,11 +1,11 @@
 amcl:
   ros__parameters:
     use_sim_time: False
-    alpha1: 0.2
-    alpha2: 0.2
-    alpha3: 0.2
-    alpha4: 0.2
-    alpha5: 0.2
+    alpha1: 0.02
+    alpha2: 0.02
+    alpha3: 0.02
+    alpha4: 0.02
+    alpha5: 0.02
     base_frame_id: "base_footprint"
     beam_skip_distance: 0.5
     beam_skip_error_threshold: 0.9
@@ -14,7 +14,7 @@ amcl:
     global_frame_id: "map"
     lambda_short: 0.1
     laser_likelihood_max_dist: 2.0
-    laser_max_range: 100.0
+    laser_max_range: 10.0
     laser_min_range: -1.0
     laser_model_type: "likelihood_field"
     max_beams: 60
@@ -187,13 +187,13 @@ controller_server:
 global_costmap:
   global_costmap:
     ros__parameters:
-      footprint_padding: 0.03
+      footprint_padding: 0.00
       update_frequency: 1.0
       publish_frequency: 1.0
       global_frame: map
       robot_base_frame: base_link
       use_sim_time: True
-      robot_radius: 0.22 # radius set and used, so no footprint points
+      robot_radius: 0.10 # radius set and used, so no footprint points
       resolution: 0.05
       plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
       obstacle_layer:
@@ -224,7 +224,7 @@ global_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         enabled: true
-        inflation_radius: 0.55
+        inflation_radius: 0.1
         cost_scaling_factor: 1.0
         inflate_unknown: false
         inflate_around_unknown: true
@@ -266,7 +266,7 @@ local_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         enabled: true
-        inflation_radius: 0.4
+        inflation_radius: 0.1
         cost_scaling_factor: 1.0
         inflate_unknown: false
         inflate_around_unknown: true