Commit 521a3bdd authored by czb5793's avatar czb5793
Browse files

modify the configuration files

parent 2edcd150
# Disrecte time that elapses during one simulation cycle
period: 0.05
# Configures the robot
# These values are inspired by the Khepera III robot
robot:
# Maximum translational velocity in m/s
max_transl_vel: 0.3148
# Maximum angular velocity in rad/s
max_ang_vel: 2.2763
# Polygon specifying the shape of the robot
bottom_plate: [[-0.024, 0.064],
[0.033, 0.064],
[0.057, 0.043],
[0.074, 0.010],
[0.074, -0.010],
[0.057, -0.043],
[0.033, -0.064],
[-0.025, -0.064],
[-0.042, -0.043],
[-0.048, -0.010],
[-0.048, 0.010],
[-0.042, 0.043]]
# Polygon specifying the top view of the robot, used solely for plotting
top_plate: [[-0.031, 0.043],
[-0.031, -0.043],
[0.033, -0.043],
[0.052, -0.021],
[0.057, 0.000],
[0.052, 0.021],
[0.033, 0.043]]
# Configures the motor used by the robot
motor:
noise:
# Standard deviation of the left wheel's velocity in meters/second while executing a motion command.
left_velocity: 0.00001
# Standard deviation of the right wheel's velocity in meters/second while executing a motion command.
right_velocity: 0.00001 # 0.0001
# Configures the sensors used by the robot
sensor:
# Minimum detection range of the sensor in meters
min_range: 0.02
# Maximum detection range of the sensor in meters
max_range: 0.2
# Value that is read at maximum range
min_read_value: 18
# Value that is read at minimum range
max_read_value: 3960
# Standard deviation of the distance from the sensors to the detected landmark.
noise: 0.00001
# Specificies the poses and number of sensors
# Each pose is composed of x position, y position and angle in degrees
poses: [[-0.038, 0.048, 128],
[0.019, 0.064, 75],
[0.050, 0.050, 42],
[0.070, 0.017, 13],
[0.070, -0.017, -13],
[0.050, -0.050, -42],
[0.019, -0.064, -75],
[-0.038, -0.048, -128],
[-0.048, 0.000, 180]]
# Degree of the plotted cone angle of the sensor
# Careful: the sensor only has a single detection line! The cone is purely for plotting.
cone_angle: 10
# Configures the wheels of the robot
wheel:
# Wheel radius
radius: 0.021
# Distance between the two centers of the wheels
base_length: 0.0885
# Value returned by wheel odometry per revolution
ticks_per_rev: 2765
# Maximum speed of the wheel in rad/s
max_speed: 15.0
# Configures the GUI
viewer:
# Number of pixels per row of a frame
pixels_width: 500
# Number of pixels per column of a frame
pixels_height: 600
# Pixels per meter
zoom: 100
# Distance in meters of the major gridlines
major_gridline_interval: 1
# Between the major gridline there are this many minor divisions
major_gridline_subdivisions: 5
# Configures the random map generation
map:
# Configures the generated obstacles
obstacle:
# Configures octagon obstacles
octagon:
# Determines whether octagon obstacles shall be generated
enabled: true
# Radius of obstacles
radius: 0.04
# Minimum amount of generated obstacles
min_count: 25
# Maximum amount of generated obstacles
max_count: 50
# Minimum distance to origin
min_distance: 0.2
# Maximum distance to origin
max_distance: 2
# Configures rectangle obstacles
rectangle:
# Determines whether rectangle obstacles shall be generated
enabled: false
# Minimum side length of a rectangle
min_dim: 0.1
# Maximum side length of a rectangle
max_dim: 2.5
# Maximum sum of the two side lengths of a rectangle
max_combined_dim: 2.6
# Minimum amount of generated obstacles
min_count: 10
# Maximum amount of generated obstacles
max_count: 50
# Minimum distance to origin
min_distance: 0.4
# Maximum distance to origin
max_distance: 6
# Configures the goal generation
goal:
# Determines if a new goal is generated once the robot reaches its current goal
endless: true
# Minimum distance to origin
min_distance: 0
# Maximum distance to origin
max_distance: 2
# Minimum distance to all obstacles
min_clearance: 0.2
# Configures the control of the robot
control:
# If robot is closer than this distance to the goal, it is considered as reached
goal_reached_distance: 0.05
# If a sensor measures a distance smaller than the danger distance, the robot immediately starts moving into the opposite direction
danger_distance: 0.06
# If a sensor measures a distance smaller than the caution distance, the robot will follow the wall of the obstacle
# Set to danger_distanceto disable wall following, since the map contains small, circle-like objects, where wall following can lead to looping around an object
caution_distance: 0.06
# Criterion for stopping the following of a wall
progress_epsilon: 0.05
# Configures the SLAM system
slam:
# The amount of variables that describe the robot's state
# These are x position, y position and current angle theta
# Currently only supports 3
robot_state_size: 3
# The amount of variables that describe a landmark's state
# These are x position and y position
# Currently only supports 2
landmark_state_size: 2
# Determines whether landmark-identifiers is used
# It determines whether correspondences of landmarks are given, i.e. identifies of landmarks are given
feature_detector: true
# Configures the sensor noise. The values are currently empirically chosen.
sensor_noise:
# Standard deviation of the detected distance in meters
detected_distance: 0.2
# Standard deviation of the detected angle in degrees
detected_angle: 30
ekf_slam:
# Determines whether the EKF SLAM algorithm shall be executed
enabled: true
# The mahalanobis distance threshold used in data association
distance_threshold: 1
# Configures the motion noise. The values are currently empirically chosen.
motion_noise:
# Standard deviation of the robots x-coordinate in meters after executing a motion command.
x: 0.005
# Standard deviation of the robots y-coordinate in meters after executing a motion command.
y: 0.005
# Standard deviation of the robots angle in degrees after executing a motion command.
theta: 1
fast_slam:
# Determines whether the FastSLAM algorithm shall be executed
enabled: true
# The mahalanobis distance threshold used in data association
distance_threshold: 0.125
# The number of used particles
n_particles: 100
# Configures the motion noise. The values are currently empirically chosen.
motion_noise:
# Standard deviation of the motion command's translational velocity in m/s.
translational_velocity: 0.005
# Standard deviation of the motion command's rotational velocity in rad/s.
rotational_velocity: 0.005
graph_based_slam:
# Determines whether the Graph-based SLAM algorithm shall be executed
enabled: false
# The euclidean distance threshold used in data association
distance_threshold: 0.2
# The number interval of pose-vertices added that the graph optimization is executed.
optimization_interval: 100
# The timestep interval of executing the frontend part.
frontend_interval: 5
# number of fixed vertexes while the graph optimization
num_fixed_vertexes: 20
# Configures the motion noise. The values are currently empirically chosen.
motion_noise:
# Standard deviation of the robots x-coordinate in meters after executing a motion command.
x: 0.005
# Standard deviation of the robots y-coordinate in meters after executing a motion command.
y: 0.005
# Standard deviation of the robots angle in degrees after executing a motion command.
theta: 1.0 #0.09
# Configures the sensor noise. The values are currently empirically chosen.
sensor_noise:
x: 0.2
y: 0.2
# Configures the evaluation of the SLAM algorithms
evaluation:
# Determines whether the accuracy of the generated maps shall be evaluated
enabled: false
# Determines the interval of when the accuracy of the generated maps is calculated
# A low interval (for example 1) causes performance problems
interval: 20
# Configures the 2D grid map of the occupancy mapping grid algorithm
mapping:
enabled: false
# Width of the map in meters
gridmap:
# Width of the map in meters
width: 5
# Height of the map in meters
height: 5
# Number of pixels per meter. The GUI has problem while using grid map of high resolution.
resolution: 10
# offset the origin in the grid map
offset:
# offset in meters in horizontal direction
x: 2.5
# offset in meters in vertical direction
y: 2.5
path_planning:
enabled: false
heuristic_weight: 1.0
\ No newline at end of file
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment