Hi all
I'm using Nav2d where the part of simulator is replaced with my own physical robot. The map in simulator has larger dimension size than my map which is only 5x3 meters. Since the map size is changed then I understand that **costmap.yaml, operator.yaml and navigator.yaml** has to be changed, where I have set them to :
**costmap.yalm**
global_frame: odom
robot_base_frame: base_link
update_frequency: 10.0
publish_frequency: 2.0
publish_voxel_map: true
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
map_type: costmap
track_unknown_space: true
transform_tolerance: 0.3
obstacle_range: 2.0
min_obstacle_height: 0.0
max_obstacle_height: 2.0
raytrace_range: 4.5
robot_radius: 0.4
inflation_radius: 0.75
cost_scaling_factor: 2.0
lethal_cost_threshold: 100
observation_sources: scan
scan: {data_type: LaserScan, expected_update_rate: 0.6,
observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}
**operator.yaml**
max_velocity: 0.2
publish_route: true
max_free_space: 2.0
safety_decay: 0.50
distance_weight: 1
safety_weight: 2
conformance_weight: 1
continue_weight: 0
**navigator.yaml**
map_inflation_radius: 1.0
robot_radius: 0.5
navigation_goal_distance: 0.10
navigation_goal_angle: 1.0
navigation_homing_distance: 0.30
exploration_goal_distance: 1.0
min_target_area_size: 1.0
visualize_frontiers: true
I understand the parameters in navigator when I change them, and it make good since but the reaction of robot is randomly each time when I change parameters in costmap and operator.
My question is, am I hitting some limitations in these two files since robot stops after 20 cm moving or just make a turn ?
Is there other files I also must change when map size is changed ?
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