Tune Stretch Rtabmap move_base params

stretch_rtabmap/config/2d/base_local_planner_params.yaml

@@ -1,79 +1,45 @@
 base_local_planner: "dwa_local_planner/DWAPlannerROS"
 
-TrajectoryPlannerROS:
-  acc_lim_x: 0.20
-  acc_lim_y: 0.0
-  acc_lim_theta: 0.20
-  max_vel_x: 0.25
-  min_vel_x: 0.15
-  max_vel_y: 0.0
-  min_vel_y: 0.0
-  max_vel_theta: 0.25
-  min_vel_theta: -0.25
-  min_in_place_vel_theta: 0.3
-  holonomic_robot: false
-  # base vel/accel profile is in robot folders
-  # tolerances (defaults)
-  yaw_goal_tolerance: 0.1
-  xy_goal_tolerance: 0.1
-  latch_xy_goal_tolerance: true
-  # forward simulation
-  sim_time: 1.0
-  sim_granularity: 0.025
-  angular_sim_granularity: 0.025
-  vx_samples: 3
-  vtheta_samples: 10
-  # scoring (defaults)
-  meter_scoring: true
-  path_distance_bias: 0.5
-  goal_distance_bias: 0.75
-  occdist_scale: 0.00625
-  heading_lookahead: 0.325
-  heading_scoring_timestep: 0.8
-  heading_scoring: true
-  dwa: false
-  # other
-  oscillation_reset_dist: 0.05
-  # debug
-  publish_cost_grid_pc: false
-
+# Parameter documentation at http://wiki.ros.org/dwa_local_planner#Parameters
 DWAPlannerROS:
-  #vel params
-  max_vel_x: 0.6 #safe speed for fetch to travel at
-  min_vel_x: 0
-  max_vel_trans: 0.6
-  min_vel_trans: 0.1
-  max_vel_y: 0  #diff drive
-  min_vel_y: 0
-  max_vel_theta: 1.5
-  min_vel_theta: 0.4
-
-  #accel params
+  # vel params
+  max_vel_trans: 0.3                # Stretch is conservatively set to max forward velocity of 0.3 m/s
+  min_vel_trans: 0.0
+  max_vel_x: 0.3                    # Stretch is conservatively set to max forward velocity of 0.3 m/s
+  min_vel_x: 0.0
+  max_vel_y: 0                      # diff drives do not have y velocity
+  min_vel_y: 0                      # diff drives do not have y velocity
+  max_vel_theta: 1.0                # replaces 'max_rot_vel' here: https://github.com/ros-planning/navigation/blob/noetic-devel/dwa_local_planner/src/dwa_planner_ros.cpp#L128-L129
+  min_vel_theta: 0.0                # replaces 'min_rot_vel' here: https://github.com/ros-planning/navigation/blob/noetic-devel/dwa_local_planner/src/dwa_planner_ros.cpp#L128-L129
+
+  # accel params
   acc_lim_x: 0.7
-  acc_lim_y: 0  #diff drive
+  acc_lim_y: 0                      # diff drives do not have y acceleration
   acc_lim_trans: 0.7
-  acc_lim_theta: 4
+  acc_lim_theta: 3.2
+
+  # goal tolerance
+  yaw_goal_tolerance: 0.05
+  xy_goal_tolerance: 0.05
+  latch_xy_goal_tolerance: true
 
-  #forward sim params
-  sim_time: 1.1
-  vx_samples: 3                   #was 5
-  vy_samples: 0 #diff drive
-  vth_samples: 15
+  # forward sim params
+  sim_time: 3.0
+  sim_granularity: 0.025
+  vx_samples: 3
+  vy_samples: 0                     # diff drives do not have y velocity
+  vth_samples: 20
 
-  #scoring params
+  # scoring params
   path_distance_bias: 32
-  goal_distance_bias: 24
-  occdist_scale: 0.1
+  goal_distance_bias: 20
+  occdist_scale: 0.02
   forward_point_distance: 0.3
+  stop_time_buffer: 0.2
+  scaling_speed: 0.25
+  max_scaling_factor: 0.2
+  publish_cost_grid: true
 
-  #higher goal tolerance
-  yaw_goal_tolerance: 0.1
-  xy_goal_tolerance: 0.2
-  latch_xy_goal_tolerance: true
-
-  #lower goal tolerance
-  #yaw_goal_tolerance: 0.05
-  #xy_goal_tolerance: 0.1
-  #latch_xy_goal_tolerance: false
-
+  # others
+  oscillation_reset_dist: 0.05
   prune_plan: true

stretch_rtabmap/config/2d/costmap_common_params.yaml

@@ -1,7 +1,6 @@
 obstacle_range: 2.5
 raytrace_range: 3.0
 
-# robot_radius: 0.55
 #             FL            BL              BR              FR
 footprint: [[0.05,0.175],[-0.30,0.175],[-0.30,-0.175],[0.05,-0.175]]
 
@@ -22,5 +21,5 @@ map_type: costmap
 
 
 inflation_layer:
-  inflation_radius: 0.3
-  cost_scaling_factor: 2.5
+  inflation_radius: 1.75
+  cost_scaling_factor: 2.58

stretch_rtabmap/config/2d/global_planner_params.yaml

@@ -1,11 +1,18 @@
 base_global_planner: global_planner/GlobalPlanner
+
+# Parameter documentation at http://wiki.ros.org/global_planner#Parameters
 GlobalPlanner:
   allow_unknown: true
-  cost_factor: 0.5
+  default_tolerance: 0.05
+  visualize_potential: false
+  use_dijkstra: true
+  use_quadratic: true
+  use_grid_path: false
+  old_navfn_behavior: false
   lethal_cost: 253
   neutral_cost: 66
+  cost_factor: 0.55
+  publish_potential: false
   orientation_mode: 0
   orientation_window_size: 1
-  publish_potential: false
-  default_tolerance: 0.2
   outline_map: false