From 2ad74b5a5f76c98a7d9b8a71cbcbb859d44f2d65 Mon Sep 17 00:00:00 2001 From: aakapatel Date: Fri, 14 Jun 2024 14:18:27 +0200 Subject: [PATCH] added errt.yaml config --- config/errt.yaml | 91 ++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 91 insertions(+) create mode 100644 config/errt.yaml diff --git a/config/errt.yaml b/config/errt.yaml new file mode 100644 index 0000000..b4b3d31 --- /dev/null +++ b/config/errt.yaml @@ -0,0 +1,91 @@ +######## ERRT Tuning Parameters ######### +######################################### + +# Candidate goals parameters + +map_frame_id: "world" #UFOMAP and ERRT global frame id for visualization purpose +min_info_goal: 1.0 #The minimum information gain for a candidate goal. Any value but 1 increases the information gain calculations for each sampled candidate goal and can lead to higher computation time +goal_sensor_range: 3.0 #Separate sensor range for "MIN_INFO_GOAL_" calculation. Preferably set lower than SENSOR_RANGE to promote candidate goals to be generated closer to unknown space +number_of_goals: 60 #Number of candidate goals to be generated +min_dist_to_goal: 1.0 #The minimum distance between candidate goals and the robot position +dist_goals: 0.2 #The minimum distance between different generated candidate goals + + +# RRT Parameters + +run_by_nodes: true #Run by number_of_nodes if true and by number_of_itterations if false. Recommended as True +number_of_nodes: 2000 #Size of the tree as the exit condition for tree expansion +number_of_iterations: 10000 #The number of iterations, only used if RUN_BY_NODES_ is false +planning_depth: 2 #The depth in the OcTree for performing volumetric collision checks in the UFOmap +dist_nodes: 0.4 #The set distance between poses in a candidate branch - this must be synced with NMPC_DT_ for the speed profile as v_desired = DISTANCE_BETWEEN_NODES_ / NMPC_DT_ + + +# Robot Parameters + +robot_size: 0.4 #The radius of volumetric collision checks for robot-safe tree generation +goal_connect_dist: 2 #Maximum distance for attempting to connect candidate goals to tree nodes +v_local: 20 #The Bounding box side length denoting the local sampling space. Check Paper for detailed explaination. +sensor_range: 10 #The effective range of the lidar sensor, used for information gain calculations. Set lower than sensor range in UFOmap. +min_sensor_range: 0.4 #The distance at which the sensor will exclude hits, as to not include occupation hits from the drone itself +senros_vertical_fov: 0.393 #The vertical angle cut-off (half FoV) for the LiDAR, used for information gain calculation bounding boxes, given in radians. Ex. Ouster 45deg FoV -> 0.393rad (x2) +info_gain_depth: 2 #The depth in the OcTree for information gain calculations +info_calc_dist: 6.0 #The distance between nodes where information gain calculations are performed - small values can lead to high computations but significant overlap between checks + + +# Planning tuning parameters + +k_dist: 0.3 #Gain for the distance cost during candidate branch evaluation +k_info: 0.4 #Gain for the information gain during candidate branch evaluation +k_u: 0.1 #Gain for the actuation cost during candidate branch evaluation +recalc_dist: 2.0 #Distance from the end-segment of the current trajectory at which a new trajectory calculation is initiated, for smooth trajectory transistions +path_update_dist: 0.3 #The distance from the current robot pose at which the trajectory segment updates and is sent to the pose ref topic +path_improvement_max: 3000 #The maximum amount of micro seconds which can be spent improving a single path + + +# N-MPC Tuning Parameters + +nmpc_horizon: 50 #Horizon in the NMPC problem. If edited must then also be specified in the NMPC module builder +nmpc_dt: 0.4 #Sampling time of the NMPC problem. This also specifies the desired dt to reach each path segment set by dist_nodes +position_tracking_weight_x: 0 #Qx +position_tracking_weight_y: 0 +position_tracking_weight_z: 0 +angle_weight_roll: 0 +angle_weight_pitch: 0 +input_weight_thrust: 5 #Qu +input_weight_roll: 10 +input_weight_pitch: 10 +input_rate_weight_thrust: 5 #Qdu +input_rate_weight_roll: 10 +input_rate_weight_pitch: 10 + + +# Initialization parameters + +start_from_waypoint: false #Denotes if there's a starting-point to travel to or not. Can be useful to start ERRT with an initial small map as opposed to from the ground for the first trajectory +initial_x: 2 #Initial point x +initial_x: 0 #Initial point y +initial_x: 1 #Initial point z + + + + + + + + + + + + + + + + + + + + + + + +