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Added rotate acorns

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Pimpest
2026-04-15 13:33:50 +02:00
parent 2619a9b0b5
commit b683dc0bb4
3 changed files with 89 additions and 18 deletions
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13
toid_navigation/params/toid_general_params.yaml
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@@ -22,7 +22,7 @@ behavior_server:
local_footprint_topic: local_costmap/published_footprint
global_footprint_topic: global_costmap/published_footprint
cycle_frequency: 50.0
behavior_plugins: ["backup", "spin", "rotate", "translateX", "moveCoords", "approachAcorns"]
behavior_plugins: ["backup", "spin", "rotate", "translateX", "moveCoords", "approachAcorns", rotateAcorns]
spin:
plugin: "nav2_behaviors::Spin"
backup:
@@ -41,6 +41,8 @@ behavior_server:
kdelta: 1.0
lambda: 2.0
debug_marker: true
rotateAcorns:
plugin: "toid::RotateAcorns"
local_frame: map
global_frame: map
robot_base_frame: base_footprint
@@ -58,7 +60,7 @@ global_costmap:
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_footprint
footprint: "[[-0.08, 0.15], [0.22, 0.15], [0.22, -0.15], [-0.08, -0.15]]"
footprint: "[[-0.045, 0.15], [0.255, 0.15], [0.255, -0.15], [-0.045, -0.15]]"
footprint_padding: 0.02
track_unknown_space: false
rolling_window: false
@@ -79,7 +81,7 @@ local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
footprint: "[[-0.08, 0.15], [0.22, 0.15], [0.22, -0.15], [-0.08, -0.15]]"
footprint: "[[-0.045, 0.15], [0.255, 0.15], [0.255, -0.15], [-0.045, -0.15]]"
footprint_padding: 0.01
#robot_radius: 0.18
global_frame: map
@@ -89,11 +91,14 @@ local_costmap:
height: 1
resolution: 0.01
introspection_mode: "disabled"
plugins: ["static_layer", "inflation_layer"]
plugins: ["static_layer", rival_layer, "inflation_layer"]
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
footprint_clearing_enabled: true
map_subscribe_transient_local: True
rival_layer:
plugin: "toid::RivalLayer"
rival_size: 0.15
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0