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Dynamic Configuration

Contents

0. Introduction

In this reposity, you can simply change configs through modifing the src/user_config/user_config.yaml. When you run main.sh, our python script will re-generated *.launch, *.world and so on, according to your configs in user_config.yaml.

Below is an example of user_config.yaml

map: "warehouse"
world: "warehouse"
rviz_file: "sim_env.rviz"

robots_config:
  - robot1_type: "turtlebot3_waffle"
    robot1_global_planner: "a_star"
    robot1_local_planner: "dwa"
    robot1_x_pos: "0.0"
    robot1_y_pos: "0.0"
    robot1_z_pos: "0.0"
    robot1_yaw: "-1.57"
  - robot2_type: "turtlebot3_burger"
    robot2_global_planner: "jps"
    robot2_local_planner: "pid"
    robot2_x_pos: "1.0"
    robot2_y_pos: "0.0"
    robot2_z_pos: "0.0"
    robot2_yaw: "0.0"

plugins:
  pedestrians: "pedestrian_config.yaml"
  obstacles: "obstacles_config.yaml"
  map_layers: "map_layers_config.yaml"

Explanation:

  • map: static map，located in src/sim_env/map/, if map: "", map_server will not publish map message which often used in SLAM.

  • world: gazebo world，located in src/sim_env/worlds/, if world: "", Gazebo will be disabled which often used in real world.

  • rviz_file: RViz configure, automatically generated if rviz_file is not set.

  • robots_config: robotic configuration.

    • type: robotic type，such as turtlebot3_burger, turtlebot3_waffle and turtlebot3_waffle_pi.

    • global_planner: global algorithm, details in Version.

    • local_planner: local algorithm, details in Section Version.

    • xyz_pos and yaw: initial pose.

  • plugins: other applications using in simulation

    • pedestrians: configure file to add dynamic obstacles (e.g. pedestrians).

    • obstacles: configure file to add static obstacles.

    • map_layers: configure file to add costmap layers.

1. Dynamic Obstacles

For pedestrians configuration file, the examples are shown below

## pedestrians_config.yaml

# sfm algorithm configure
social_force:
  animation_factor: 5.1
  # only handle pedestrians within `people_distance`
  people_distance: 6.0
  # weights of social force model
  goal_weight: 2.0
  obstacle_weight: 80.0
  social_weight: 15
  group_gaze_weight: 3.0
  group_coh_weight: 2.0
  group_rep_weight: 1.0

# pedestrians setting
pedestrians:
  update_rate: 5
  ped_property:
    - name: human_1
      pose: 5 -2 1 0 0 1.57
      velocity: 0.9
      radius: 0.4
      cycle: true
      time_delay: 5
      ignore:
        model_1: ground_plane
        model_2: turtlebot3_waffle
      trajectory:
        goal_point_1: 5 -2 1 0 0 0
        goal_point_2: 5 2 1 0 0 0
    - name: human_2
      pose: 6 -3 1 0 0 0
      velocity: 1.2
      radius: 0.4
      cycle: true
      time_delay: 3
      ignore:
        model_1: ground_plane
        model_2: turtlebot3_waffle
      trajectory:
        goal_point_1: 6 -3 1 0 0 0
        goal_point_2: 6 4 1 0 0 0

Explanation:

  • social_force: the weight factors that modify the navigation behavior. See the Social Force Model for further information.

  • pedestrians/update_rate: update rate of pedestrains presentation. The higher update_rate, the more sluggish the environment becomes.

  • pedestrians/ped_property: pedestrians property configuration.

    • name: the id for each human.

    • pose: the initial pose for each human.

    • velocity: maximum velocity (m/s) for each human.

    • radius: approximate radius of the human's body (m).

    • cycle: if true, the actor will start the goal point sequence when the last goal point is reached.

    • time_delay: this is time in seconds to wait before starting the human motion.

    • ignore_obstacles: all the models that must be ignored as obstacles, must be indicated here. The other actors in the world are included automatically.

    • trajectory: the list of goal points that the actor must reach must be indicated here. The goals will be post into social force model.

2. Static Obstacles

For obstacles configuration file, the examples are shown below

## obstacles_config.yaml 

# static obstacles
obstacles:
  - type: BOX
    pose: 5 2 0 0 0 0
    color: Grey
    props:
      m: 1.00
      w: 0.25
      d: 0.50
      h: 0.80

Explanation:

  • type: model type of specific obstacle, optional: BOX, CYLINDER or SPHERE.

  • pose: fixed pose of the obstacle.

  • color: color of the obstacle.

  • props: property of the obstacle.

    • m: mass.

    • w: width.

    • d: depth.

    • h: height.

    • r: radius.

3. Costmap Layers

For map_layers configuration file, the examples are shown below

# map layers configure
global_costmap:
  - static_map
  - obstacle_layer
  - voronoi_layer
  - inflation_layer

local_costmap:
  - static_map
  - obstacle_layer
  - inflation_layer

Explanation:

  • global_costmap: global costmap option
  • local_costmap: local costmap option