diff --git a/.gitignore b/.gitignore index 2ec322b..ae22f70 100644 --- a/.gitignore +++ b/.gitignore @@ -1,2 +1,3 @@ .vscode/ -.vale.ini \ No newline at end of file +.vale.ini +styles/ diff --git a/lidarbot_navigation/config/nav2_params.yaml b/lidarbot_navigation/config/nav2_params.yaml index 1ba776b..918c2e8 100644 --- a/lidarbot_navigation/config/nav2_params.yaml +++ b/lidarbot_navigation/config/nav2_params.yaml @@ -44,7 +44,8 @@ bt_navigator: use_sim_time: True global_frame: map robot_base_frame: base_link - odom_topic: /odom + # odom_topic: /odometry/filtered + odom_topic: /odom bt_loop_duration: 10 default_server_timeout: 20 # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: @@ -191,7 +192,7 @@ local_costmap: width: 3 height: 3 resolution: 0.05 - robot_radius: 0.22 + robot_radius: 0.15 # 0.22 plugins: ["voxel_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" @@ -230,7 +231,7 @@ global_costmap: global_frame: map robot_base_frame: base_link use_sim_time: True - robot_radius: 0.22 + robot_radius: 0.15 # 0.22 resolution: 0.05 track_unknown_space: true plugins: ["static_layer", "obstacle_layer", "inflation_layer"] @@ -346,4 +347,4 @@ velocity_smoother: odom_topic: "odom" odom_duration: 0.1 deadband_velocity: [0.0, 0.0, 0.0] - velocity_timeout: 1.0 \ No newline at end of file + velocity_timeout: 1.0 diff --git a/lidarbot_navigation/maps/real_map3.pgm b/lidarbot_navigation/maps/real_map3.pgm new file mode 100644 index 0000000..1763f27 Binary files /dev/null and b/lidarbot_navigation/maps/real_map3.pgm differ diff --git a/lidarbot_navigation/maps/real_map3.yaml b/lidarbot_navigation/maps/real_map3.yaml new file mode 100644 index 0000000..20116dc --- /dev/null +++ b/lidarbot_navigation/maps/real_map3.yaml @@ -0,0 +1,7 @@ +image: real_map3.pgm +mode: trinary +resolution: 0.05 +origin: [-3.4, -6.49, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/lidarbot_navigation/rviz/lidarbot_nav.rviz b/lidarbot_navigation/rviz/lidarbot_nav.rviz index 38452c0..d51eb42 100644 --- a/lidarbot_navigation/rviz/lidarbot_nav.rviz +++ b/lidarbot_navigation/rviz/lidarbot_nav.rviz @@ -4,6 +4,7 @@ Panels: Name: Displays Property Tree Widget: Expanded: + - /Map1/Topic1 - /Odometry2/Shape1 - /Map2/Topic1 Splitter Ratio: 0.5 @@ -182,7 +183,7 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 0 + Max Intensity: 47 Min Color: 0; 0; 0 Min Intensity: 0 Name: LaserScan @@ -231,7 +232,7 @@ Visualization Manager: Name: Map Topic: Depth: 5 - Durability Policy: Volatile + Durability Policy: Transient Local Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable @@ -389,7 +390,7 @@ Visualization Manager: Value: true Views: Current: - Angle: -1.5649993419647217 + Angle: -1.579999327659607 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -402,8 +403,8 @@ Visualization Manager: Scale: 84.51799011230469 Target Frame: Value: TopDownOrtho (rviz_default_plugins) - X: -1.8875250816345215 - Y: -2.8322813510894775 + X: -0.7626913189888 + Y: -2.2333052158355713 Saved: ~ Window Geometry: Camera: @@ -415,7 +416,7 @@ Window Geometry: Hide Right Dock: false Navigation 2: collapsed: false - QMainWindow State: 000000ff00000000fd000000040000000000000217000003b9fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ef000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000032a000000cc0000002800fffffffb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0000000271000001850000018500fffffffb00000018004e0061007600690067006100740069006f006e002000320100000232000001c40000012600ffffff000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044e000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000217000003b9fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ef000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000032a000000cc0000002800fffffffb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0000000271000001850000018500fffffffb00000018004e0061007600690067006100740069006f006e002000320100000232000001c40000013900ffffff000000010000010f000003b9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003b9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000044e000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false SlamToolboxPlugin: