finish reviewing sim_env

src/sim_env/config/amcl_params.yaml

@@ -22,4 +22,4 @@ odom_model_type: "diff"
 odom_alpha1: 0.1
 odom_alpha2: 0.1
 odom_alpha3: 0.1
-odom_alpha4: 0.1
+odom_alpha4: 0.1

src/sim_env/config/costmap/global_costmap_params.yaml

@@ -5,33 +5,34 @@ global_costmap:
   update_frequency: 1.0
   publish_frequency: 1.0
   transform_tolerance: 0.5
-  cost_scaling_factor:  2.0
+  cost_scaling_factor: 2.0
   inflation_radius: 0.8
 
   ### Sensor management parameters ###
   obstacle_layer:
     observation_sources: scan
-    scan: { 
-      topic:                    scan, 
-      sensor_frame:             base_footprint, 
-      observation_persistence:  0.0,
-      expected_update_rate:     0.8,
-      data_type:                LaserScan, 
-      clearing:                 true, 
-      marking:                  true, 
-      max_obstacle_height:      0.8,
-      min_obstacle_height:      0.0,
-      obstacle_range:           2.5,
-      raytrace_range:           3.0,
-      inf_is_valid:             true
-    }  
+    scan:
+      {
+        topic: scan,
+        sensor_frame: base_footprint,
+        observation_persistence: 0.0,
+        expected_update_rate: 0.8,
+        data_type: LaserScan,
+        clearing: true,
+        marking: true,
+        max_obstacle_height: 0.8,
+        min_obstacle_height: 0.0,
+        obstacle_range: 2.5,
+        raytrace_range: 3.0,
+        inf_is_valid: true,
+      }
 
   inflation_layer:
-    enabled:              true
-    cost_scaling_factor:  2.0  # exponential rate at which the obstacle cost drops off (default: 10)
-    inflation_radius:     0.8  # max. distance from an obstacle at which costs are incurred for planning paths.
+    enabled: true
+    cost_scaling_factor: 2.0 # exponential rate at which the obstacle cost drops off (default: 10)
+    inflation_radius: 0.8 # max. distance from an obstacle at which costs are incurred for planning paths.
 
   static_map:
-    enabled:              true
-    clear_time:           20
-    publish_static_map:   true
+    enabled: true
+    clear_time: 20
+    publish_static_map: true

src/sim_env/config/costmap/local_costmap_params.yaml

@@ -4,12 +4,12 @@ local_costmap:
 
   update_frequency: 10.0
   publish_frequency: 10.0
-  transform_tolerance: 0.5  
+  transform_tolerance: 0.5
 
-  static_map: false  
+  static_map: false
   rolling_window: true
   width: 3
   height: 3
   resolution: 0.05
 
-  inflation_radius: 3.0
+  inflation_radius: 3.0

src/sim_env/config/nanocar/costmap_common_params_nanocar.yaml

@@ -9,4 +9,11 @@ cost_scaling_factor: 3.0
 
 map_type: costmap
 observation_sources: scan
-scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}
+scan:
+  {
+    sensor_frame: base_scan,
+    data_type: LaserScan,
+    topic: scan,
+    marking: true,
+    clearing: true,
+  }

src/sim_env/config/planner/apf_planner_params.yaml

@@ -19,17 +19,17 @@ APFPlanner:
   min_w: 0.0
   max_w_inc: 1.57
 
-  s_window: 5  # trajectory smoothing window time
+  s_window: 5 # trajectory smoothing window time
 
-  zeta: 1.0     # scale factor of attractive force
-  eta: 3.0   # scale factor of repulsive force
+  zeta: 1.0 # scale factor of attractive force
+  eta: 3.0 # scale factor of repulsive force
 
-  cost_ub: 254  # the upper bound of costmap used to calculate potential field
-  cost_lb: 0    # the lower bound of costmap used to calculate potential field
+  cost_ub: 254 # the upper bound of costmap used to calculate potential field
+  cost_lb: 0 # the lower bound of costmap used to calculate potential field
 
   # the costmap inflation radius of obstacles
   # this parameter should be consistent with that in sim_env/config/costmap/xxx_costmap_params.yaml
   inflation_radius: 3.0
 
   base_frame: base_link
-  map_frame: map
+  map_frame: map

src/sim_env/config/planner/dwa_planner_params.yaml

@@ -1,36 +1,35 @@
 DWAPlanner:
-
-# Robot Configuration Parameters
+  # Robot Configuration Parameters
   max_vel_x: 0.46
   min_vel_x: 0.00
 
   max_vel_y: 0.0
   min_vel_y: 0.0
 
-# The velocity when robot is moving in a straight line
-  max_vel_trans:  0.26
-  min_vel_trans:  0.13
+  # The velocity when robot is moving in a straight line
+  max_vel_trans: 0.26
+  min_vel_trans: 0.13
 
   max_vel_theta: 1.82
   min_vel_theta: 0.9
 
   acc_lim_x: 2.5
   acc_lim_y: 0.0
-  acc_lim_theta: 3.2 
+  acc_lim_theta: 3.2
 
-# Goal Tolerance Parameters
+  # Goal Tolerance Parameters
   xy_goal_tolerance: 0.2
   yaw_goal_tolerance: 0.5
   latch_xy_goal_tolerance: false
 
-# Forward Simulation Parameters
+  # Forward Simulation Parameters
   sim_time: 2.0
   vx_samples: 20
   vy_samples: 0
   vth_samples: 40
   controller_frequency: 10.0
 
-# Trajectory Scoring Parameters
+  # Trajectory Scoring Parameters
   path_distance_bias: 32.0
   goal_distance_bias: 20.0
   occdist_scale: 0.02
@@ -39,9 +38,9 @@ DWAPlanner:
   scaling_speed: 0.25
   max_scaling_factor: 0.2
 
-# Oscillation Prevention Parameters
+  # Oscillation Prevention Parameters
   oscillation_reset_dist: 0.05
 
-# Debugging
-  publish_traj_pc : true
+  # Debugging
+  publish_traj_pc: true
   publish_cost_grid_pc: true

src/sim_env/config/planner/evolutionary_planner_params.yaml

@@ -10,7 +10,7 @@ EvolutionaryPlanner:
   # whether publish expand zone or not
   expand_zone: true
 
-  ## Ant Colony Optimization(ACO) planner 
+  ## Ant Colony Optimization(ACO) planner
   # number of ants
   n_ants: 50
   # number of inherited ants (Note: Need to be less than parameter ants)
@@ -32,7 +32,7 @@ EvolutionaryPlanner:
   # maximum iterations
   max_iter_ant: 5
 
-  ## Particle Swarm Optimization(PSO) planner 
+  ## Particle Swarm Optimization(PSO) planner
   # number of particles
   n_particles: 50
   # number of inherited particles (Note: Need to be less than parameter n_particles)
@@ -54,8 +54,7 @@ EvolutionaryPlanner:
   # maximum iterations
   max_iter_pso: 5
 
-
-  ## Genetic Algorithm(GA) planner 
+  ## Genetic Algorithm(GA) planner
   # number of genets (Note: The parameter must be set to an even number greater than 0)
   n_genets: 50
   # number of inherited genets (Note: Need to be less than parameter n_genets)
@@ -78,4 +77,4 @@ EvolutionaryPlanner:
   # 2: Randomly generate initial genets swarm positions within the circular area of the starting and target points
   init_mode_ga: 2
   # maximum iterations
-  max_iter_ga: 5
+  max_iter_ga: 5

src/sim_env/config/planner/rpp_planner_params.yaml

@@ -32,5 +32,3 @@ RPPPlanner:
   scaling_gain: 1.0
   approach_dist: 0.8
   approach_min_v: 0.1
-
-

src/sim_env/config/planner/sample_planner_params.yaml

@@ -23,4 +23,4 @@ SamplePlanner:
   # parallel rewire process
   rewire_threads_num: 4
   # aggressive or gradual optimizing strategy
-  t_distr_freedom: 1.0 # suggest from 0.2 to 3
+  t_distr_freedom: 1.0 # suggest from 0.2 to 3

src/sim_env/config/turtlebot3_burger/costmap_common_params_turtlebot3_burger.yaml

@@ -9,4 +9,11 @@ cost_scaling_factor: 3.0
 
 map_type: costmap
 observation_sources: scan
-scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}
+scan:
+  {
+    sensor_frame: base_scan,
+    data_type: LaserScan,
+    topic: scan,
+    marking: true,
+    clearing: true,
+  }

src/sim_env/config/turtlebot3_waffle/costmap_common_params_turtlebot3_waffle.yaml

@@ -9,4 +9,12 @@ cost_scaling_factor: 3.0
 
 map_type: costmap
 observation_sources: scan
-scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true, inf_is_valid: true}
+scan:
+  {
+    sensor_frame: base_scan,
+    data_type: LaserScan,
+    topic: scan,
+    marking: true,
+    clearing: true,
+    inf_is_valid: true,
+  }

src/sim_env/config/turtlebot3_waffle_pi/costmap_common_params_turtlebot3_waffle_pi.yaml

@@ -9,4 +9,11 @@ cost_scaling_factor: 3.0
 
 map_type: costmap
 observation_sources: scan
-scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}
+scan:
+  {
+    sensor_frame: base_scan,
+    data_type: LaserScan,
+    topic: scan,
+    marking: true,
+    clearing: true,
+  }

src/sim_env/launch/main.launch

@@ -5,6 +5,6 @@
 		<arg name="world" value="$(arg world_parameter)" />
 		<arg name="map" value="warehouse" />
 		<arg name="robot_number" value="1" />
-		<arg name="rviz_file" value="" />
+		<arg name="rviz_file" value="sim_env.rviz" />
 	</include>
 </launch>

src/sim_env/package.xml

@@ -9,6 +9,7 @@
   <author email="[email protected]">Winter</author>
 
   <buildtool_depend>catkin</buildtool_depend>
+
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
@@ -19,19 +20,20 @@
   <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>rviz</exec_depend>
+
   <exec_depend>controller_manager</exec_depend>
-  <exec_depend>urdf</exec_depend>
   <exec_depend>effort_controllers</exec_depend>
   <exec_depend>gazebo_plugins</exec_depend>
-  <exec_depend>gazebo_ros</exec_depend>
   <exec_depend>gazebo_ros_control</exec_depend>
   <exec_depend>joint_state_controller</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>yocs_cmd_vel_mux</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>urdf</exec_depend>
   <exec_depend>xacro</exec_depend>
-  <exec_depend>rviz</exec_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

src/sim_env/urdf/nanocar/nanocar.gazebo.xacro

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot name="NanoCar" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:arg name="robot_name" default=""/>
+  <xacro:arg name="robot_name" default="" />
 
   <gazebo reference="base_link">
     <material>Gazebo/DarkGrey</material>
@@ -38,7 +38,7 @@
     <fdir1>1 0 0</fdir1>
     <material>Gazebo/FlatBlack</material>
   </gazebo>
-  
+
   <gazebo reference="back_right_wheel_link">
     <mu1>0.5</mu1>
     <mu2>0.5</mu2>
@@ -82,7 +82,7 @@
   <gazebo>
     <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
       <alwaysOn>true</alwaysOn>
-      <bodyName>imu_link</bodyName>  
+      <bodyName>imu_link</bodyName>
       <frameName>imu</frameName>
       <topicName>imu</topicName>
       <serviceName>imu_service</serviceName>
@@ -141,22 +141,22 @@
     </sensor>
   </gazebo>
 
-  
+
   <gazebo reference="camera_rgb_frame">
     <sensor type="depth" name="realsense_R200">
       <always_on>true</always_on>
       <visualize>$(arg camera_visual)</visualize>
       <camera>
-          <horizontal_fov>1.085595</horizontal_fov>
-          <image>
-              <width>640</width>
-              <height>480</height>
-              <format>R8G8B8</format>
-          </image>
-          <clip>
-              <near>0.03</near>
-              <far>100</far>
-          </clip>
+        <horizontal_fov>1.085595</horizontal_fov>
+        <image>
+          <width>640</width>
+          <height>480</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.03</near>
+          <far>100</far>
+        </clip>
       </camera>
       <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
         <baseline>0.2</baseline>
@@ -170,12 +170,12 @@
         <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
         <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
         <pointCloudCutoff>0.4</pointCloudCutoff>
-            <hackBaseline>0.07</hackBaseline>
-            <distortionK1>0.0</distortionK1>
-            <distortionK2>0.0</distortionK2>
-            <distortionK3>0.0</distortionK3>
-            <distortionT1>0.0</distortionT1>
-            <distortionT2>0.0</distortionT2>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
         <CxPrime>0.0</CxPrime>
         <Cx>0.0</Cx>
         <Cy>0.0</Cy>
@@ -184,4 +184,4 @@
       </plugin>
     </sensor>
   </gazebo>
-</robot>
+</robot>