Inflation layer params fix

stretch_navigation/config/base_global_planner_params.yaml

@@ -1,21 +0,0 @@
-GlobalPlanner:
-
-  allow_unknown: true                           # Allow planner to plan through unknown space, default true
-  default_tolerance: 0.0                        # If goal in obstacle, plan to the closest point in radius default_tolerance, default 0.0
-  visualize_potential: False                     # Specifies whether or not to visualize the potential area computed via a PointCloud2
-
-  old_navfn_behavior: false                     # Exactly mirror behavior of navfn, use defaults for other boolean parameters, default false
-  use_quadratic: true                           # Use the quadratic approximation of the potential. Otherwise, use a simpler calculation, default true
-  use_dijkstra: true                            # Use dijkstra's algorithm. Otherwise, A*, default true
-  use_grid_path: false                          # Create a path that follows the grid boundaries. Otherwise, use a gradient descent method, default false
-  
-  planner_window_x: 0.0                         # default 0.0
-  planner_window_y: 0.0                         # default 0.0
-  
-  publish_scale: 100                            # Scale by which the published potential gets multiplied, default 100
-  planner_costmap_publish_frequency: 0.0        # default 0.0
-  
-  lethal_cost: 253                               # default 253
-  neutral_cost: 15                              # default 50
-  cost_factor: 0.6                              # Factor to multiply each cost from costmap by, default 3.0
-  publish_potential: true                       # Publish Potential Costmap (this is not like the navfn pointcloud2 potential), default true

stretch_navigation/config/base_local_planner_params.yaml

@@ -27,7 +27,7 @@ TrajectoryPlannerROS:
 
   ## scoring (defaults)
   meter_scoring: true
-  path_distance_bias: 1.0 # 3 # 0.5
+  path_distance_bias: 1.5 # 3 # 0.5
   goal_distance_bias: 0.8 #1.5 #0.75
   occdist_scale: 0.02 #0.00625
   heading_lookahead: 0.325

stretch_navigation/config/common_costmap_params.yaml

@@ -4,7 +4,6 @@ raytrace_range: 3.0
 footprint: [[0.05, 0.17], [0.05, -0.17], [-0.17, -0.17], [-0.27, -0.06], [-0.27, 0.06], [-0.17, 0.17]]
 footprint_padding: 0.025
 # robot_radius: 0.2
-inflation_radius: 0.15
 
 observation_sources: laser_scan_sensor
 

stretch_navigation/config/global_costmap_params_nomap.yaml

@@ -3,3 +3,5 @@ global_costmap:
   robot_base_frame: centered_base_link
   update_frequency: 5.0
   static_map: false
+  inflation_radius: 1.75
+  cost_scaling_factor: 2.58

stretch_navigation/config/global_costmap_params_withmap.yaml

@@ -2,4 +2,6 @@ global_costmap:
   global_frame: map
   robot_base_frame: base_link
   update_frequency:  5.0 
-  static_map: true
+  static_map: true
+  inflation_radius: 1.75
+  cost_scaling_factor: 2.58

stretch_navigation/config/local_costmap_params.yaml

@@ -7,4 +7,6 @@ local_costmap:
   rolling_window: true
   width: 3.0
   height: 3.0
-  resolution: 0.05
+  resolution: 0.05
+  inflation_radius: 0.15 # reduce it according to the tight spaces
+  cost_scaling_factor: 1.5

stretch_navigation/launch/navigation.launch

@@ -27,9 +27,7 @@
     <rosparam file="$(find stretch_navigation)/config/local_costmap_params.yaml" command="load" />
     <rosparam file="$(find stretch_navigation)/config/global_costmap_params_withmap.yaml" command="load" />
     <rosparam file="$(find stretch_navigation)/config/base_local_planner_params.yaml" command="load" />
-    <rosparam file="$(find stretch_navigation)/config/base_global_planner_params.yaml" command="load" />
-    
-    <param name="base_global_planner" value="global_planner/GlobalPlanner" />
+
     <remap from="/cmd_vel" to="/stretch/cmd_vel" />
   </node>
 

stretch_navigation/rviz/navigation.rviz

@@ -5,6 +5,7 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Odometry1/Shape1
+        - /Path to Goal1
       Splitter Ratio: 0.6117647290229797
     Tree Height: 539
   - Class: rviz/Selection
@@ -22,7 +23,6 @@ Panels:
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
-    Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: Filtered Laser Scan
@@ -447,14 +447,14 @@ Visualization Manager:
       Radius: 0.009999999776482582
       Shaft Diameter: 0.03999999910593033
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/NavfnROS/plan
+      Topic: /move_base/TrajectoryPlannerROS/global_plan
       Unreliable: false
       Value: true
     - Class: octomap_rviz_plugin/OccupancyGrid
       Enabled: false
-      Max. Height Display: inf
+      Max. Height Display: 3.4028234663852886e+38
       Max. Octree Depth: 16
-      Min. Height Display: -inf
+      Min. Height Display: -3.4028234663852886e+38
       Name: OccupancyGrid
       Octomap Topic: /octomap_full
       Queue Size: 5
@@ -500,7 +500,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 6.752994537353516
+      Distance: 11.901083946228027
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -526,7 +526,7 @@ Window Geometry:
   Height: 836
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002a6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065010000000000000640000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004e4000002a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002a6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065010000000000000640000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004e4000002a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -536,5 +536,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1600
-  X: 0
+  X: 72
   Y: 27