Merge pull request #11 from logivations/task_wmo_56527_use_same_footp…

…rint_for_global_and_local_planner_adapt_inflation_layers_smac WMO-56527 Use same footprint for global and local planner: Adapt Inflation layers, SMAC
logivations · Dec 16, 2020 · 931c649 · 931c649
2 parents 63a1c19 + c12cb72
commit 931c649
Showing 1 changed file with 21 additions and 12 deletions.
diff --git a/nav2_bringup/bringup/params/forklift_params.yaml b/nav2_bringup/bringup/params/forklift_params.yaml
@@ -52,6 +52,11 @@ controller_server:
       no_outer_iterations: 4
       max_number_classes: 4
       min_turning_radius: 0.2
+      use_sin_cos_approximation: True
+      weight_velocity_obstacle_ratio: 10.0
+      obstacle_proximity_ratio_max_vel: 0.8
+      obstacle_proximity_lower_bound: 0.0
+      obstacle_proximity_upper_bound: 1.0
 
 
 controller_server_rclcpp_node:
@@ -62,20 +67,20 @@ controller_server_rclcpp_node:
 local_costmap:
   local_costmap:
     ros__parameters:
-      global_frame: map
+      global_frame: odom
+      update_frequency: 10.0
+      publish_frequency: 7.0
       robot_base_frame: base_link
-      plugins: ["obstacle_layer"]
-      obstacle_layer.plugin: "nav2_costmap_2d::ObstacleLayer"
+      map_topic: /costmap_node/map
+      plugins: ["static_layer"]
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: False
       rolling_window: True
-      width: 8
-      height: 8
+      width: 7
+      height: 7
       resolution: 2.0
-      robot_radius: 0.25
-      obstacle_layer:
-        enabled: True
-        observation_sources: scan
-      static_layer:
-        map_subscribe_transient_local: True
+      footprint: "[[1.8, 0.4], [1.8, -0.4], [-0.2, -0.4], [-0.2, 0.4]]"
       always_send_full_costmap: True
   local_costmap_client:
     ros__parameters:
@@ -203,14 +208,18 @@ global_costmap:
       footprint: "[[1.8, 0.4], [1.8, -0.4], [-0.2, -0.4], [-0.2, 0.4]]"
       map_topic: /costmap_node/map
       track_unknown_space: false
-      plugins: ["static_layer", "obstacle_layer"]
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
       obstacle_layer:
         plugin: "nav2_costmap_2d::ObstacleLayer"
         enabled: false
         observation_sources: scan
       static_layer:
         plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: False
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 10.0
+        inflation_radius: 0.55
       always_send_full_costmap: True
   global_costmap_client:
     ros__parameters: