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ChingHengWang / debug_trajectory_tool

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Compare EKF and non-EKF #4

Open ChingHengWang opened 8 years ago

ChingHengWang commented 8 years ago

Discuss Issue

  1. footprint size
  2. inflation >= roobot radius + bias
  3. max_Vel & max_rotational_vel
  4. min_vel
  5. EKF with non-EKF
ChingHengWang commented 8 years ago

initial parameter

github from https://github.com/piliwilliam0306/metal1/tree/0c4721d0cbfc738b0d2527b93996edbd1f407936 contain : andbot ROS_PACKAGE , mcu_control (uno_base.ino mega.ino) by the way , this is no custom message version

  1. footprint size footprint: [[0.15, 0.33], [0.15, -0.33], [-0.56, -0.33], [-0.56, 0.33]]
  2. inflation >= roobot radius + bias inflation_radius: 0.6
  3. max_Vel & max_rotational_vel & min_vel max_vel_x: 0.2 min_vel_x: 0.05 max_vel_theta: 0.3 min_vel_theta: -0.3 max_rotational_vel: 0.3

4 EKF with non-EKF andbot.launch andbot_ekf.launch

5 controller freq 3.0 Hz

ChingHengWang commented 8 years ago

First Test

  1. footprint size footprint: [[0.15, 0.33], [0.15, -0.33], [-0.56, -0.33], [-0.56, 0.33]]
  2. inflation >= roobot radius + bias
    inflation_radius: 0.33 + 0.1 = 0.43
  3. max_Vel & max_rotational_vel & min_vel max_vel_x: 0.2 min_vel_x: 0.05 max_vel_theta: 0.3 min_vel_theta: -0.3 max_rotational_vel: 0.3
  4. EKF with non-EKF andbot.launch andbot_ekf.launch

Steps;

  1. roslaunch andbot andbot.launch or roslaunch andbot andbot_ekf.launch
  2. rosrun debug_trajectory_tool tf_footprint2map_pub
  3. get map , rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped {2,0,0} {0,0,0,1}
  4. go back to origin using teleop {0,0,0} {0,0,0,1}
  5. start matlab simulink record program
  6. go to goal {2,0,0} {0,0,0,1}
ChingHengWang commented 8 years ago

controller freq 10.0 Hz
so far no special effect

ChingHengWang commented 8 years ago

try to slow down the speed when robot pass the narrow gate,

  1. max_vel_x: 0.2 to max_vel_x: 0.1
  2. max_vel_theta: 0.3 to max_vel_theta: 0.2 but if speed is too low, robot is tempt to do circle....
ChingHengWang commented 8 years ago

try to kill recovery behavior

  1. recovery_behavior_enabled: ture->false
  2. clearing_rotation_allowed: true->false but it's still not working!
ChingHengWang commented 8 years ago