dwb replaced by regulated pure pursuit

mgonzs13 · Dec 7, 2023 · 17ff996 · 17ff996
1 parent ff38f12
commit 17ff996
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Showing 3 changed files with 33 additions and 50 deletions.
diff --git a/rover_motor_controller/rover_motor_controller/motor_controller/vel_parser_node.py b/rover_motor_controller/rover_motor_controller/motor_controller/vel_parser_node.py
@@ -47,7 +47,7 @@ def __init__(self):
 
         self.declare_parameter("linear_limit", 1.0)
         self.declare_parameter("angular_limit", 1.0)
-        self.declare_parameter("angular_factor", 0.5)
+        self.declare_parameter("angular_factor", 0.0)
 
         # getting params
         hardware_distances = self.get_parameter(

diff --git a/rover_motor_controller_cpp/src/motor_controller/vel_parser_node.cpp b/rover_motor_controller_cpp/src/motor_controller/vel_parser_node.cpp
@@ -41,7 +41,7 @@ VelParserNode::VelParserNode() : rclcpp::Node("vel_parser_node") {
 
   this->declare_parameter<float>("linear_limit", 1.0);
   this->declare_parameter<float>("angular_limit", 1.0);
-  this->declare_parameter<float>("angular_factor", 0.5);
+  this->declare_parameter<float>("angular_factor", 0.0);
 
   // getting params
   std::vector<double> hardware_distances;

diff --git a/rover_navigation/params/nav2.yaml b/rover_navigation/params/nav2.yaml
@@ -88,55 +88,38 @@ controller_server:
       yaw_goal_tolerance: 0.3
       stateful: True
 
-    # DWB controller parameters
     FollowPath:
-      plugin: dwb_core::DWBLocalPlanner
-      debug_trajectory_details: True
-      min_vel_x: 0.0
-      min_vel_y: 0.0
-      max_vel_x: 0.25
-      max_vel_y: 0.0
-      max_vel_theta: 1.0
-      min_speed_xy: 0.0
-      max_speed_xy: 0.25
-      min_speed_theta: 0.0
-      acc_lim_x: 2.5
-      acc_lim_y: 0.0
-      acc_lim_theta: 3.2
-      decel_lim_x: -2.5
-      decel_lim_y: 0.0
-      decel_lim_theta: -3.2
-      vx_samples: 20
-      vy_samples: 5
-      vtheta_samples: 20
-      sim_time: 1.7
-      linear_granularity: 0.05
-      angular_granularity: 0.025
-      transform_tolerance: 0.2
-      xy_goal_tolerance: 0.3
-      trans_stopped_velocity: 0.25
-      short_circuit_trajectory_evaluation: True
-      stateful: True
-      critics:
-        [
-          RotateToGoal,
-          Oscillation,
-          BaseObstacle,
-          GoalAlign,
-          PathAlign,
-          PathDist,
-          GoalDist,
-        ]
-      BaseObstacle.scale: 0.02
-      PathAlign.scale: 32.0
-      GoalAlign.scale: 24.0
-      PathAlign.forward_point_distance: 0.1
-      GoalAlign.forward_point_distance: 0.1
-      PathDist.scale: 32.0
-      GoalDist.scale: 24.0
-      RotateToGoal.scale: 32.0
-      RotateToGoal.slowing_factor: 5.0
-      RotateToGoal.lookahead_time: 5.0
+      plugin: nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController
+      transform_tolerance: 1.0
+      desired_linear_vel: 0.25
+
+      lookahead_dist: 0.6
+      min_lookahead_dist: 0.3
+      max_lookahead_dist: 0.9
+      lookahead_time: 1.5
+
+      rotate_to_heading_angular_vel: 1.8
+
+      use_velocity_scaled_lookahead_dist: True
+      approach_velocity_scaling_dist: 1.0
+      min_approach_linear_velocity: 0.05
+      use_regulated_linear_velocity_scaling: True
+      use_cost_regulated_linear_velocity_scaling: True
+      regulated_linear_scaling_min_radius: 0.9
+      regulated_linear_scaling_min_speed: 0.25
+
+      use_collision_detection: False
+      max_allowed_time_to_collision_up_to_carrot: 1.0
+
+      use_rotate_to_heading: False
+      rotate_to_heading_min_angle: 0.785
+      max_angular_accel: 3.2
+      max_robot_pose_search_dist: 10.0
+      use_interpolation: True
+
+      cost_scaling_dist: 0.3
+      cost_scaling_gain: 1.0
+      inflation_cost_scaling_factor: 3.0
 
 local_costmap:
   local_costmap: