[*] # Parameters for all robots # robot parameters robot_allow_rear_motion on robot_rectangular 0 # right now used only by robot_gui robot_use_laser on robot_use_sonar off robot_collision_avoidance off robot_odometry_inverted off # simulator parameters simulator_use_rear_laser off # camera parameters camera_interframe_sleep 0.1 camera_dev /dev/video0 camera_image_width 640 camera_image_width 480 # localize parameters localize_num_particles 250 localize_laser_max_range 50.0 localize_use_rear_laser off localize_odom_a1 0.2 # a1 = error in rotation # as a function of rotation localize_odom_a2 0.01 # a2 = error in rotation # as a function of translation localize_odom_a3 0.2 # a3 = error in translation # as a function of translation localize_odom_a4 0.01 # a4 = error in translation # as a function of rotation localize_mean_c_d -0.0123 localize_mean_c_t -0.1065 localize_std_dev_c_d 0.1380 localize_std_dev_c_t 0.2347 localize_mean_d_d 1.0055 localize_mean_d_t 0.0025 localize_std_dev_d_d 0.1925 localize_std_dev_d_t 0.3982 localize_mean_t_d -0.0025 localize_mean_t_t 0.9638 localize_std_dev_t_d 0.0110 localize_std_dev_t_t 0.3300 # navigator parameters navigator_goal_size 0.4 navigator_goal_theta_tolerance 0.09 #logger parameters logger_ascii off logger_odometry on logger_laser on logger_robot_laser on logger_localize on logger_params on # robotgraph parameters robotgraph_rear_laser off # vasco parameters vasco_laser_type sick # linemapping parameters # # the maximum beam length, which should be used # to extract lines linemapping_laser_maxrange 6.0 # Split'n'Merge: max. distance of a point to a segment in the "split"-step # (e.g.: if distance>sam_tolerance then the point set will be splited) # with smaler values you get less line segments, but more accurate ones linemapping_sam_tolerance 0.1 # Split'n'Merge: max. distance of neighbouring points, so that a segment # will be created. # (E.g. if 'distance>sam_max_gap' then the point set will be splited) linemapping_sam_max_gap 0.3 # Split'n'Merge: minimum length of a line segment linemapping_sam_min_length 0.4 # Split'n'Merge: minimun number of points on a line segment linemapping_sam_min_num 5 # use the fitting algorithm when merging lines linemapping_sam_use_fit_split off # max. distance of the two end points of a line segment for merging linemapping_merge_max_dist 0.1 # the minimum overlap between to lines before they get merged (relative) linemapping_merge_min_relative_overlap 0.2 # the minimum overlap between to lines before they get merged (in m) linemapping_merge_overlap_min_length 0.2 # when mergeing, distribute points over the linesegment for re-computation linemapping_merge_uniformly_distribute_dist 0.05 base_type orc base_model orc base_dev /dev/ttyS0 base_wheelbase 0.34 # robot parameters robot_length 0.6 # measurements in m robot_width 0.46 robot_odometry_inverted on robot_min_approach_dist 0.3 robot_min_side_dist 0.1 robot_acceleration 0.2 # m/s^2 robot_deceleration 0.5 # m/s^2 robot_reaction_time 0.2 robot_max_t_vel 0.4 # m/s robot_max_r_vel 0.8 # rad/sec robot_theta_gain 0.5 robot_theta_d_gain 1 robot_displacement_gain 0.75 robot_allow_rear_motion on robot_rectangular 1 robot_use_sonar off [expert] joystick_deadspot on joystick_deadspot_size 0.2 localize_min_wall_prob 0.25 localize_outlier_fraction 0.90 localize_update_distance 0.20 ## integrate a beam each n rads (new version of laser_skip) localize_integrate_angle 0.052359 ## 3 degrees localize_do_scanmatching off localize_constrain_to_map off localize_occupied_prob 0.5 localize_lmap_std 0.3 localize_global_lmap_std 0.6 localize_global_evidence_weight 0.01 localize_global_distance_threshold 2.0 localize_global_test_samples 100000 localize_use_sensor on navigator_map_update_radius 3.0 navigator_map_update_obstacles on navigator_map_update_freespace off navigator_map_update_num_laser_beams 361 navigator_replan_frequency 5 navigator_smooth_path on navigator_dont_integrate_odometry off navigator_plan_to_nearest_free_point on navigator_panel_initial_map_zoom 100.0 navigator_panel_track_robot on navigator_panel_draw_waypoints on navigator_panel_show_particles off navigator_panel_show_gaussians off navigator_panel_show_true_pos on navigator_panel_show_tracked_objects off navigator_panel_show_laser off navigator_panel_show_simulator_objects off base_motion_timeout 1 robot_sensor_timeout 3.0 robot_collision_avoidance_frequency 10.0 robot_turn_before_driving_if_heading_bigger_than 1.5708 robotgui_connect_distance 40.0 robotgui_gui_control on robotgui_show_velocity off robotgui_show_vector on simulator_person_leg_width 0.1 simulator_person_dist_from_robot 0.4 simulator_person_speed 0.3 simulator_dt 0.172 simulator_time 0.172 simulator_sync_mode off simulator_laser_probability_of_random_max .0001 simulator_laser_probability_of_random_reading .0001 simulator_laser_sensor_variance .001 simulator_sonar_probability_of_random_max .01 simulator_sonar_probability_of_random_reading .005 simulator_sonar_sensor_variance .05 simulator_use_robot on simulator_front_laser_maxrange 50 # m simulator_rear_laser_maxrange 50 # m camera_brightness -1 camera_hue -1 camera_saturation -1 camera_contrast -1 camera_gamma -1 camera_denoisestrength 0 camera_awbmode custom camera_awbred 16384 camera_awbblue 8192 camera_antiflicker off camera_backlightcompensation off camera_useautosharpen off camera_sharpenstrength 49152 camera_useautoshutter on camera_shutterlength 0 camera_useagc off camera_gain 16384 camera_fps 15 #logger parameters ##logger_ascii off logger_odometry on logger_laser on logger_robot_laser on logger_localize on logger_params on logger_gps on logger_simulator on