url: https://api.ignitionrobotics.org 

source ~/gazebo_test_ws/devel/setup.bash 

#Description:
# 代价地图通用参数配置文件,就是全局代价地图和局部代价地图
# 共同都需要配置的参数,各参数意义如下:
# robot_radius: 机器人的半径
# "obstacle_range" 参数确定最大范围传感器读数，这将导致障碍物被放入代价地图中。
# 在这里，我们把它设置在3米，这意味着机器人只会更新其地图包含距离移动基座3米以内的障碍物的信息。
# “raytrace_range”参数确定了用于清除指定范围外的空间。
# 将其设置为3.0米，这意味着机器人将尝试清除3米外的空间，在代价地图中清除3米外的障碍物。

#robot_radius: 0.2

footprint: [[0.171, -0.128], [0.171, 0.128],[-0.171, 0.128], [-0.171, -0.128]] 

obstacle_range: 2.5
raytrace_range: 3.0

static_layer: 
  enabled: true

inflation_layer: #膨胀层
  enabled: true
  inflation_radius: 0.30 # 代价地图膨胀半径 0.03 0.05 0.15 0.20 0.25
  cost_scaling_factor: 10.0

obstacle_layer:  
  enabled: true
  track_unknown_space: true
  combination_method: 1

  obstacle_range: 2.5
  raytrace_range: 3.0 

  observation_sources: scan
  scan: {
    data_type: LaserScan,
    topic: /scan,
    marking: true,
    clearing: true
  }

#Description: 
#  dwa_local_planner提供一个能够驱动底座的控制器,该控制器连接了路径规划器和机器人. 
#  使用地图,规划器产生从起点到目标点的运动轨迹,在移动时,规划器在机器人周围产生一个函数, 
#  用网格地图表示。控制器的工作就是利用这个函数来确定发送给机器人
#  的速度dx, dy, dtheta 
#
#       >> DWA算法的基本思想 << 
#  1.在机器人控制空间离散采样(dx, dy, dtheta) 
#  2.对每一个采样的速度进行前向模拟,看看在当前状态下,使用该采样速度移动一小段时间后会发生什么. 
#  3.评价前向模拟得到的每个轨迹,是否接近障碍物,是否接近目标,是否接近全局路径以及速度等等.舍弃非法路径 
#  4.选择得分最高的路径,发送对应的速度给底座 
#
#  DWA与Trajectory Rollout的区别主要是在机器人的控制空间采样差异...
latch_xy_goal_tolerance: true

DWAPlannerROS:
  # Robot Configuration Parameters - stdr robot
  acc_lim_x: 0.5
  acc_lim_y: 0.0
  acc_lim_th: 0.3

  # max_trans_vel: 0.4  # choose slightly less than the base's capability
  # min_trans_vel: 0.1  # this is the min trans velocity when negligible rotational velocity

  max_vel_trans: 1.0    # choose slightly less than the base's capability
  min_vel_trans: -0.1   # this is the min trans velocity when negligible rotational velocity

  trans_stopped_vel: 0.1
  theta_stopped_vel: 0.1
  max_vel_x: 1.2        # 0.8
  min_vel_x: -0.2
  max_vel_y: 1.2        # 0.2 diff drive robot, don't need set vel_y
  min_vel_y: -0.2

  # max_rot_vel: 0.5   # choose slightly less than the base's capability
  # min_rot_vel: 0.1   # min angular velocity when negligible translational velocity

  max_vel_theta: 0.6    # choose slightly less than the base's capability
  min_vel_theta: -0.6   # min angular velocity when negligible translational velocity

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.1   # 0.1 rad = 5.7 degree
  xy_goal_tolerance: 0.3
  latch_xy_goal_tolerance: true

  # Forward Simulation Parameters
  sim_time: 1.0        # 1.7
  sim_granularity: 0.025
  vx_samples: 3        # default 3
  vy_samples: 3        # diff drive robot, there is only one sample
  vth_samples: 7       # 20
  controller_frequency: 5.0

  # Trajectory Scoring Parameters
  path_distance_bias: 32.0     # weighting for sticking to global path
  goal_distance_bias: 20.0     # weighting for reaching local goal
  occdist_scale: 0.2           # weighting for obstacle avoidance
  forward_point_distance: 0.125
  stop_time_buffer: 0.2
  scaling_speed: 0.20
  max_scaling_factor: 0.2
  publish_cost_grid: false

  # Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

  hdiff_scale: 1.0      # 全局和局部角度判断
  heading_points: 1

  # Global Plan Parameters
  prune_plan: true

  publish_traj_pc: false
  publish_cost_grid_pc: false
  global_frame_id: map

#Description: 
#  全局代价地图参数配置文件,各参数的意义如下：
#  global_frame: 在全局代价地图中的全局坐标系
#  robot_base_frame: 机器人的基坐标系

global_costmap:
  global_frame: map
  robot_base_frame: dummy #base_footprint
  transform_tolerance: 0.5

  update_frequency: 10.0
  publish_frequency: 10.0

  plugins:
    - {name: static_layer,    type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

#Description:
#   * allow_unknown:是否允许规划器规划穿过未知区域的路径,
#        只设计该参数为true还不行,还要在costmap_commons_params.yaml
#        中设置track_unknown_space参数也为true才行.
#   * default_tolerance:当设置的目的地被障碍物占据时,需要以该参数
#        为半径寻找到最近的点作为新目的地点.
#   * visualize_potential:是否显示从PointCloud2计算得到的势区域.
#   * use_dijkstra:设置为true,将使用dijkstra算法,否则使用A*算法.
#   * use_quadratic:设置为true,将使用二次函数近似函数,否则使用更加
#      简单的计算方式,这样节省硬件计算资源.
#   * use_grid_path:如果设置为true,则会规划一条沿着网格边界的路径,
#      偏向于直线穿越网格,否则将使用梯度下降算法,路径更为光滑点.
#   * old_navfn_behavior:若在某些情况下,想让global_planner完全复制navfn
#      的功能,那就设置为true,但是需要注意navfn是非常旧的ROS系统中使用的,
#      现在已经都用global_planner代替navfn了,所以不建议设置为true.
#   * lethal_cost:致命代价值,默认是设置为253,可以动态来配置该参数.
#   * neutral_cost:中等代价值,默认设置是50,可以动态配置该参数.
#   * cost_factor:代价地图与每个代价值相乘的因子.
#   * publish_potential:是否发布costmap的势函数.
#   * orientation_mode: 如何设置每个点的方向（None = 0,Forward = 1,
#       Interpolate = 2,ForwardThenInterpolate = 3,Backward = 4,
#       Leftward = 5,Rightward = 6）（可动态重新配置）
#   * orientation_window_size:根据orientation_mode指定的位置积分来得到
#      使用窗口的方向.默认值1,可以动态重新配置.
GlobalPlanner:
  allow_unknown: true
  default_tolerance: 0.05 
  use_dijkstra: true  
  use_quadratic: true  
  use_grid_path: false 
  outline_map: false
  old_navfn_behavior: false 
  visualize_potential: false 
  publish_potential: true 

  lethal_cost: 253 
  neutral_cost: 50 
  cost_factor: 3.0 

  orientation_mode: 0 
  orientation_window_size: 1 

#Description:
#  本地代价地图需要配置的参数，各参数意义如下:
#  global_frame:在本地代价地图中的全局坐标系;
#  robot_base_frame:机器人本体的基坐标系;

local_costmap:
  global_frame: odom
  global_frame: map
  robot_base_frame: dummy #base_footprint 
  transform_tolerance: 0.5

  update_frequency: 10.0
  publish_frequency: 10.0 
  update_frequency: 4.0
  publish_frequency: 4.0
  rolling_window: true
  width: 3.0
  height: 3.0
  resolution: 0.05
  

  plugins:
#    - {name: static_layer,    type: "costmap_2d::StaticLayer"}
    - {name: obstacle_layer,  type: "costmap_2d::ObstacleLayer"}
    - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

. 
├── gazebo_map # 建图部分 
│   ├── cfg 
│   └── launch 
│   └── map 
│   └── CMakeLists.txt 
│   └── package.xml 
├── gazebo_nav # 导航部分 
│   ├── map # 导航所需地图 
│   └── launch 
│   │   ├── navi_demo.launch # 导航所需地图位置在此处修改 
│   │   └── config # 参数配置文件 
│   └── CMakeLists.txt 
│   └── package.xml 
├── start_game # 脚本部分 
│   ├── main.py # 执行脚本 
│   └── initialize.py # 修改工作空间和urdf路径 
│   └──  interactive.py 
│   └── ros_module.py 
│   └── pose.json # 导航点 
│   └── log.txt 
│   └── vital_log.txt 
│   └── resources  
│       └──ucar_plane 
└── gazebo_pkg