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Changing configuration options

To change the configuration options, update the set_config.py file to your desire configuration values.

Example of the subset of configuration options:

cost_scaling_factor_g = random.randint(1,20) # A scaling factor to apply to cost values during inflation
update_frequency_g = random.randint(4,7)  # The frequency in Hz for the map to be updated.
publish_frequency_g = random.randint(1,4) # The frequency in Hz for the map to be publish display information.
transform_tolerance_g = round(random.uniform(0.2, 2),2) # Specifies the delay in transform (tf) data that is tolerable in seconds.  For example, a transform being 0.2 seconds out-of-date may be tolerable, but a transform being 8 seconds out of date is not.
footprint_padding_g = round(random.uniform(0.01, 0.05),2) # Amount to pad footprint (m).
combination_method_g = random.randint(0,1) # # Changes the behaviour how the obstacle_layer handles incoming data from layers beyond it. Possible values are "Overwrite" (0), "Maximum" (1) and "Nothing" (99).

Custom gazebo environment

You can use any gazebo environment. To use your own gazebo environment you have to place your <your_env_name>.map file to cd Reval/src/husky_ws/src/husky/husky_gazebo/worlds/ folder. And update the launch file located at cd Reval/src/husky_ws/src/husky/husky_gazebo/launch/playpen.launch Currently we do not support automatic generated environment, which will be in your future release.

<launch>
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    # Update Scenario1.world to your world file name
    <arg name="world_name" value="$(find husky_gazebo)/worlds/Scenario1.world"/>
    
    # Do not change
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>
</launch>

Define mission specifications

To define target locations update the coordinates in the goals.py file. It is important to define the narrow_spaces for your custom gazebo environment to get the RNS metric value. Currently the RNS metric only supports maximum 5 target locations, we plan to add more flexibility in our future release.

# goals -> mission specification
narrow_spaces = 5
target_locations = 5

goal1_x = 4.243134021759033
goal1_y = 0.11776113510131836
goal1_z = 0.004264891722451529
goal1_w = 0.9999909053079412

goal2_x = 6.797357082366943
goal2_y = 0.17836666107177734
goal2_z = 0.005639492443043434
goal2_w = 0.9999840979360546

goal3_x = 9.390673637390137
goal3_y = 0.16084671020507812
goal3_z = 0.00666542118821814
goal3_w = 0.9999777858334572

goal4_x = 11.79060173034668
goal4_y = 0.18810081481933594
goal4_z = 0.009660472769838802
goal4_w = 0.9999533365441925

goal5_x = 14.576149940490723
goal5_y = 0.23428869247436523
goal5_z = 0.006430144347818834
goal5_w = 0.9999793264081344