[*] # 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 ############################################################################ ## ## Robot-specific parameters ## [scout] base_type scout base_model scout base_dev /dev/ttyS0 base_wheelbase 0.34 # scout parameters scout_dev /dev/ttyS0 # on pearl2 # laser parameters laser_front_laser_dev /dev/ttyS1 laser_front_laser_type LMS laser_front_laser_baud 38400 laser_front_laser_resolution 1.0 laser_front_laser_fov 3.14159 # PI laser_front_laser_flipped 0 laser_front_laser_use_remission off # off / direct / normalized laser_rear_laser_dev none laser_laser3_dev none laser_laser4_dev none # robot parameters robot_length 0.6 # measurements in m robot_width 0.46 robot_odometry_inverted on robot_frontlaser_offset 0.25 robot_rearlaser_offset 0.4 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 0 robot_use_sonar off localize_robot_particles 125 # number of samples [pioneer-I] base_type pioneer # pioneer parameters pioneer_dev /dev/ttyS16 pioneer_version 1 pioneer_wheel_diameter 0.165 # diameter in m pioneer_relative_wheel_size 1.3 # Relative size of the wheels # compared to the original wheels. pioneer_velocity_conversion_factor 0.0025332 # laser parameters laser_front_laser_dev /dev/ttyS17 laser_front_laser_type LMS laser_front_laser_baud 38400 laser_front_laser_resolution 1.0 laser_front_laser_fov 3.14159 # PI laser_front_laser_flipped 0 laser_front_laser_use_remission off # off / direct / normalized laser_rear_laser_dev none laser_laser3_dev none laser_laser4_dev none # robot parameters robot_length 0.54 # measurements in m robot_width 0.48 robot_frontlaser_offset 0.15 robot_rearlaser_offset -0.23 robot_min_approach_dist 0.15 robot_min_side_dist 0.10 robot_acceleration 1.0 robot_deceleration 1.0 robot_reaction_time 0.1 robot_max_t_vel 0.30 robot_max_r_vel 0.349 robot_theta_gain 1.0 robot_theta_d_gain 0.3 robot_displacement_gain 0.75 robot_num_sonars 7 robot_max_sonar 10.668 robot_sensor_angle 0.5236 robot_use_sonar off robot_rectangular 1 robot_sonar_offsets 0.06 0.125 1.571 0.1 0.1 0.524 0.12 -0.06 0.262 0.13 0 0 0.12 -0.06 -0.262 0.1 -0.1 -0.524 0.06 -0.125 -1.571 [xr4000] base_type xr4000 #laser parameters laser_front_laser_dev /dev/ttyS0 laser_front_laser_type LMS laser_front_laser_baud 38400 laser_front_laser_resolution 1.0 laser_front_laser_fov 3.14159 # PI laser_front_laser_flipped 0 laser_front_laser_use_remission off # off / direct / normalized laser_rear_laser_dev none laser_laser3_dev none laser_laser4_dev none # robot parameters robot_length 0.63 # measurements in m robot_width 0.63 robot_rectangular 0 robot_frontlaser_offset 0.28 robot_rearlaser_offset 0.0 robot_min_approach_dist 0.30 robot_min_side_dist 0.10 robot_acceleration 0.50 robot_deceleration 3.0 robot_reaction_time 0.1 robot_max_t_vel 0.3 robot_max_r_vel 0.5 robot_theta_gain 1.0 robot_theta_d_gain 1 robot_displacement_gain 0.75 robot_use_sonar off robot_num_sonars 24 robot_max_sonar 10.668 robot_sensor_angle 0.5236 robot_sonar_offsets 0.208 0.027 0.131 0.194 0.08 0.393 0.167 0.128 0.655 0.128 0.167 0.916 0.080 0.194 1.178 0.027 0.208 1.44 -0.027 0.208 1.702 -0.080 0.194 1.964 -0.128 0.167 2.226 -0.167 0.128 2.487 -0.194 0.080 2.749 -0.208 0.027 3.011 -0.208 -0.027 -3.011 -0.194 -0.080 -2.749 -0.167 -0.128 -2.487 -0.128 -0.167 -2.225 -0.080 -0.194 -1.964 -0.027 -0.208 -1.702 0.027 -0.208 -1.44 0.080 -0.194 -1.178 0.128 -0.167 -0.916 0.167 -0.128 -0.655 0.194 -0.080 -0.393 0.208 -0.027 -0.131 [b21] base_type b21 # laser parameters laser_front_laser_dev /dev/cur60 laser_front_laser_type PLS laser_front_laser_baud 38400 laser_front_laser_resolution 1.0 laser_front_laser_fov 3.14159 # PI laser_front_laser_flipped 0 laser_front_laser_use_remission off # off / direct / normalized laser_rear_laser_dev none laser_laser3_dev none laser_laser4_dev none # robot parameters robot_length 0.54 # measurements in m robot_width 0.54 robot_rectangular 0 robot_frontlaser_offset 0.0 robot_rearlaser_offset 0.0 robot_min_approach_dist 0.3 robot_min_side_dist 0.1 robot_acceleration 0.4 # m/s^2 robot_deceleration 1.0 # m/s^2 robot_reaction_time 0.2 robot_max_t_vel 0.5 # 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 0 [b21r] # Parameters for University of Freiburg B21R base_type rflex rflex_type b21r rflex_dev /dev/ttyR0 # laser parameters laser_front_laser_dev /dev/ttyR3 laser_front_laser_type LMS laser_front_laser_baud 38400 laser_front_laser_resolution 1.0 laser_front_laser_fov 3.14159 # PI laser_front_laser_flipped 0 laser_front_laser_use_remission off # off / direct / normalized laser_rear_laser_dev none laser_laser3_dev none laser_laser4_dev none # robot parameters robot_length 0.54 # measurements in m robot_width 0.54 robot_rectangular 0 robot_frontlaser_offset 0.0 robot_rearlaser_offset 0.0 robot_min_approach_dist 0.3 robot_min_side_dist 0.1 robot_acceleration 0.4 # m/s^2 robot_deceleration 1.0 # m/s^2 robot_reaction_time 0.2 robot_max_t_vel 0.5 # 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 0 [atrv] # Parameters for ATRV base_type rflex rflex_type atrv rflex_dev /dev/ttyR0 laser_front_laser_dev /dev/ttyS1 laser_front_laser_type LMS laser_front_laser_baud 38400 laser_front_laser_resolution 1.0 laser_front_laser_fov 3.14159 # PI laser_front_laser_flipped 0 laser_front_laser_use_remission off # off / direct / normalized laser_rear_laser_dev none laser_laser3_dev none laser_laser4_dev none # robot parameters robot_length 1.30 # measurements in m robot_width 0.85 robot_rectangular 1 robot_frontlaser_offset 0.48 robot_rearlaser_offset 0.0 robot_min_approach_dist 0.3 robot_min_side_dist 0.1 robot_acceleration 0.4 # m/s^2 robot_deceleration 1.0 # m/s^2 robot_reaction_time 0.2 robot_max_t_vel 0.1 # 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 [p2d8+] # Parameters for Pioneer 2-DX8 Plus base_type pioneer base_model p2d8+ base_dev /dev/usb/ttyUSB0 base_relative_wheelsize 1.0 base_relative_wheelbase 1.0 # base_use_hardware_integrator should be off, otherwise # Pioneer2 (DX8Plus) ca only drive 15m in one direction # (because of a roll-over at 0x7fff) base_use_hardware_integrator off [stayton] # Parameters for Pioneer II base_type pioneer base_model p2d8+ base_dev /dev/usb/ttyUSB0 base_use_hardware_integrator off base_relative_wheelsize 1.0 base_relative_wheelbase 1.0 robot_backwards off # pioneer parameters #pioneer_dev /dev/usb/ttyUSB0 #pioneer_version 2 #pioneer_wheel_diameter 0.191 #pioneer_relative_wheel_size 1.0 #pioneer_velocity_conversion_factor 0.001 # laser parameters laser_front_laser_dev /dev/usb/ttyUSB1 laser_front_laser_type LMS laser_front_laser_baud 38400 laser_front_laser_resolution 1.0 laser_front_laser_fov 3.14159 # PI=3.14159 laser_front_laser_use_remission off # off / direct / normalized laser_front_laser_flipped no laser_rear_laser_dev none laser_laser3_dev none laser_laser4_dev none # simulator parameters simulator_use_rear_laser off # robot parameters robot_length 0.47 robot_width 0.41 robot_frontlaser_offset -0.04 robot_rearlaser_offset 0.0 robot_min_approach_dist 0.15 robot_min_side_dist 0.10 robot_acceleration 0.50 robot_deceleration 3.0 robot_reaction_time 0.1 robot_max_t_vel 0.6 robot_max_r_vel 0.8 robot_theta_gain 1.0 robot_theta_d_gain 0.3 robot_displacement_gain 0.75 robot_use_sonar off # localnavigator parameter # robot is rectangular (on) or circular (off) localnavigator_rectangular_robot on # assume goal to be reach if distance is smaller localnavigator_goal_approach_distance 0.4 # if the goal point is inside an obstacle -> shift the # goal a little bit to make it reachable localnavigator_choose_alternative_goals on # use last x scans to maintain a local map localnavigator_max_obstacles_in_localmap 360 # radius of the local map localnavigator_localmap_radius 8.0 # number of ND-sectors (like in Javier's paper) localnavigator_nd_num_sectors 144 # security distance (in the ND-definition) between robot shape and # obstacles. Note that it is not forbidden to have obstacle in this # security area, but the robots will try to avoid this. localnavigator_nd_security_distance 0.3 ################################################################################################ ## ## Expert parameters ## [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