Navigation Tuning
From wikidb
Contents
References
- Navigation Tuning Guide
- ROS Navigation Tuning Guide by Kaiyu Zheng student at University of Washington.
Removing Warning Messages
meter_scoring
[ WARN] [1478392084.188946161]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
Add the following to base_local_planner_params.yaml.
meter_scoring: true
laser_link
[ WARN] [1478203082.270333593]: MessageFilter [target=map laser_link ]: Dropped 100.00% of messages so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information.
Replaced laser_link in costmap_common_params.yaml with neato_laser. It should be:
scan: {sensor_frame: neato_laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
This matches neato_laser link in the base_to_laser transform node launched in tf_laser.launch.
<launch> <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.202 0 0.111 0 0 0 1 base_link neato_laser 100" /> </launch>
loop missed its desired rate
[ WARN] [1472599582.846147341]: Map update loop missed its desired rate of 3.0000Hz... the loop actually took 0.6902 seconds [ WARN] [1472599583.225435205]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0500 seconds
I believe this went away by specifying the following in the files:
File global_costmap_params.yaml:
update_frequency: 1.0 publish_frequency: 0.5
File local_costmap_params.yaml:
update_frequency: 1.0 publish_frequency: 5.0
File move_base_params.yaml:
controller_frequency: 3.0 planner_frequency: 1.0
Odometry (1.2)
Run
Terminal 1
roscore
Terminal 2
roslaunch floor_hugger keyboard_teleop.launch
Terminal 3
roslaunch floor_hugger active_mapping.launch
Used "d" to rotate the Floor Hugger slowly clockwise. The following is after four or more rotations. Edges look well defined.