Commit 3aff39bc authored by Test's avatar Test

init commit

parents
cmake_minimum_required(VERSION 2.8.3)
project(galileo_navigation)
find_package(catkin REQUIRED COMPONENTS
actionlib
dynamic_reconfigure
geometry_msgs
move_base_msgs
nav_msgs
roscpp
rospy
tf
visualization_msgs
)
catkin_package(
)
include_directories(
${catkin_INCLUDE_DIRS}
)
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# lagrange_navigation
拉格朗日导航配置软件包
NLlinepatrolPlanner:
DumpFileName: AnnDump.sav
strTFParsFile: TFSettings.txt
TxtFileName: path.csv
ANN_Dump_Bool: false
connect_distance: 0.3
controller_frequency: 15.0
recovery_behavior_enabled: false
clearing_rotation_allowed: false
latch_xy_goal_tolerance: true
ADDWAPlannerROS:
acc_lim_x: 1.5
acc_lim_y: 0
acc_lim_th: 8
max_trans_vel: 0.5
min_trans_vel: 0.0
max_vel_x: 0.5
min_vel_x: 0.0
max_vel_y: 0
min_vel_y: 0
max_rot_vel: 0.5
min_rot_vel: -0.5
yaw_goal_tolerance: 0.07
xy_goal_tolerance: 0.1
latch_xy_goal_tolerance: true
sim_time: 2.0
sim_granularity: 0.05
vx_samples: 20
vy_samples: 1
vtheta_samples: 20
path_distance_bias: 0.4
goal_distance_bias: 10.0
front_distance_bias: 10.0
occdist_scale: 0.01
forward_point_distance: 0.325
stop_time_buffer: 0.2
scaling_speed: 0.25
max_scaling_factor: 0.2
oscillation_reset_dist: 0.15
prune_plan: true
using_kinect: true
pub_localgrid: true
# transform rotation matrix
R: [1., 0., 0., 0., 1., 0., 0., 0., 1.0]
# transform trasition vector
T: [0.0,0.,0.]
# localgridmap cell size
resolution: 0.05
# localgridmap half cells num of echo side
half_length: 100
# the min distance between base_footprint and bar
bar_distance_min: 0.6
using_laserscan: true
#laserscan_topic: scan
# transform rotation matrix
R_laserscan: [-1., 0., 0., -1.]
# transform trasition vector
T_laserscan: [0.2,0.]
decay_value: 2
add_value: 20
distance_scale: 3.14
path_costheta: -0.5 #120 degree
forward_dist: 0.25
forward_width: 0.5
rot_width: 0.5
plan_width: 0.4
PathChange: false
PathChangeLazy: true
forward_max_dist: 1.2
clear_angle1: -1.6
clear_angle12: 1.6
clear_range: 2.0
clear_value: 5
look_ahead_dist: 0.4
theta_max: 0.4
linear_v: 0.5
k2: 0.4
kp: 0.6
ki: 0.5
kd: 0.5
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obstacle_range: 2.5
raytrace_range: 3.0
#footprint: [ [-0.3, -0.15], [0.0, -0.15], [0.0, 0.15], [-0.3, 0.15] ]
robot_radius: 0.15
inflation_radius: 0.55
max_obstacle_height: 0.6
min_obstacle_height: 0.0
observation_sources: scan
scan: {data_type: LaserScan, topic: /scan2, marking: false, clearing: false, expected_update_rate: 0}
global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 2.0
publish_frequency: 1.0
static_map: true
rolling_window: false
resolution: 10.0
transform_tolerance: 1.0
map_type: costmap
local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 1.0
publish_frequency: 1.0
static_map: true
rolling_window: false
width: 5.0
height: 5.0
resolution: 10.0
transform_tolerance: 1.0
map_type: costmap
<launch>
<!-- Run the map server with a blank map -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find galileo_navigation)/maps/blank.yaml"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_global_planner" value="NLlinepatrol_planner/NLlinepatrolPlanner"/>
<param name="base_local_planner" value="addwa_local_planner/ADDWAPlannerROS"/>
<rosparam file="$(find galileo_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find galileo_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find galileo_navigation)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find galileo_navigation)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find galileo_navigation)/config/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find galileo_navigation)/config/base_global_planner_params.yaml" command="load" />
<remap from="/odom" to="/xqserial_server/Odom" />
<remap from="/cmd_vel" to="/cmd_vel_nav" />
<remap from="/scan" to="/scan_filtered" />
</node>
</launch>
<launch>
<node pkg="system_monitor" type="orb_track.py" name="odomServ" >
<param name="enableMoveFlag" value="true"/>
</node>
<include file="$(find ORB_SLAM2)/launch/run_multi.launch" />
</launch>
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<launch>
<node pkg="system_monitor" type="orb_track.py" name="odomServ" >
<param name="enableMoveFlag" value="true"/>
</node>
<include file="$(find ORB_SLAM2)/launch/run_fake.launch" />
</launch>
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image: blank_map.pgm
resolution: 10
origin: [-2500, -2500, 0]
occupied_thresh: 0.65
free_thresh: 0.196 # Taken from the Willow Garage map in the turtlebot_navigation package
negate: 0
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<?xml version="1.0"?>
<package>
<name>galileo_navigation</name>
<version>0.0.1</version>
<description>The xiaoqiang navigation package</description>
<maintainer email="randoms@bwbot.org">Randoms</maintainer>
<license>MIT</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>actionlib</build_depend>
<build_depend>dynamic_reconfigure</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>move_base_msgs</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>tf</build_depend>
<build_depend>visualization_msgs</build_depend>
<run_depend>actionlib</run_depend>
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>move_base_msgs</run_depend>
<run_depend>nav_msgs</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>tf</run_depend>
<run_depend>visualization_msgs</run_depend>
</package>
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