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single_drone_planner.xml
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single_drone_planner.xml
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<launch>
<arg name="map_size_x"/>
<arg name="map_size_y"/>
<arg name="map_size_z"/>
<arg name="drone_id"/>
<arg name="drone_num"/>
<arg name="odometry_topic"/>
<arg name="sensor_pose_topic"/>
<arg name="depth_topic"/>
<arg name="cloud_topic"/>
<arg name="cx"/>
<arg name="cy"/>
<arg name="fx"/>
<arg name="fy"/>
<arg name="max_vel"/>
<arg name="max_acc"/>
<arg name="simulation" default="true"/>
<arg name="single_expo" default="false"/>
<!-- main node -->
<node pkg="exploration_manager" name="exploration_node_$(arg drone_id)" type="exploration_node" output="log">
<remap from ="/odom_world" to="$(arg odometry_topic)"/>
<remap from ="/map_ros/pose" to = "$(arg sensor_pose_topic)"/>
<remap from ="/map_ros/depth" to = "$(arg depth_topic)"/>
<remap from ="/map_ros/cloud" to="$(arg cloud_topic)"/>
<remap from="/planning/replan" to="/planning/replan_$(arg drone_id)" />
<remap from="/planning/new" to="/planning/new_$(arg drone_id)" />
<remap from="/planning/bspline" to="/planning/bspline_$(arg drone_id)" />
<remap from="/swarm_expl/drone_state_send" to="/swarm_expl/drone_state" />
<remap from="/swarm_expl/drone_state_recv" to="/swarm_expl/drone_state" />
<remap from="/swarm_expl/pair_opt_send" to="/swarm_expl/pair_opt" />
<remap from="/swarm_expl/pair_opt_recv" to="/swarm_expl/pair_opt" />
<remap from="/swarm_expl/pair_opt_res_send" to="/swarm_expl/pair_opt_res" />
<remap from="/swarm_expl/pair_opt_res_recv" to="/swarm_expl/pair_opt_res" />
<remap from="/swarm_expl/grid_tour_send" to="/swarm_expl/grid_tour" />
<remap from="/swarm_expl/hgrid_send" to="/swarm_expl/hgrid" />
<remap from="/multi_map_manager/chunk_stamps_send" to="/multi_map_manager/chunk_stamps" />
<remap from="/multi_map_manager/chunk_data_send" to="/multi_map_manager/chunk_data" />
<remap from="/multi_map_manager/chunk_stamps_recv" to="/multi_map_manager/chunk_stamps" />
<remap from="/multi_map_manager/chunk_data_recv" to="/multi_map_manager/chunk_data" />
<remap from="/planning/swarm_traj_recv" to="/planning/swarm_traj" />
<remap from="/planning/swarm_traj_send" to="/planning/swarm_traj" />
<remap from="/planning_vis/trajectory" to="/planning_vis/trajectory_$(arg drone_id)" />
<remap from="/planning_vis/frontier" to="/planning_vis/frontier_$(arg drone_id)" />
<remap from="/planning_vis/viewpoints" to="/planning_vis/viewpoints_$(arg drone_id)" />
<remap from="/sdf_map/occupancy_all" to="/sdf_map/occupancy_all_$(arg drone_id)" />
<remap from="/sdf_map/occupancy_local" to="/sdf_map/occupancy_local_$(arg drone_id)" />
<remap from="/sdf_map/occupancy_local_inflate" to="/sdf_map/occupancy_local_inflate_$(arg drone_id)" />
<remap from="/sdf_map/unknown" to="/sdf_map/unknown_$(arg drone_id)" />
<remap from="/sdf_map/update_range" to="/sdf_map/update_range_$(arg drone_id)" />
<remap from="/sdf_map/basecoor" to="/swarm_sim_tf/basecoor_$(arg drone_id)" if="$(arg simulation)"/>
<remap from="/sdf_map/basecoor" to="/swarm_drones/swarm_drone_basecoor" unless="$(arg simulation)"/>
<param name="sdf_map/resolution" value="0.1" />
<param name="sdf_map/map_size_x" value="$(arg map_size_x)" />
<param name="sdf_map/map_size_y" value="$(arg map_size_y)" />
<param name="sdf_map/map_size_z" value="$(arg map_size_z)" />
<param name="sdf_map/obstacles_inflation" value="0.199" />
<!-- <param name="sdf_map/obstacles_inflation" value="0.0" /> -->
<param name="sdf_map/local_bound_inflate" value="0.5"/>
<param name="sdf_map/local_map_margin" value="50"/>
<param name="sdf_map/ground_height" value="-1.0"/>
<param name="sdf_map/default_dist" value="0.5"/>
<param name="sdf_map/p_hit" value="0.65"/>
<param name="sdf_map/p_miss" value="0.35"/>
<param name="sdf_map/p_min" value="0.12"/>
<param name="sdf_map/p_max" value="0.90"/>
<param name="sdf_map/p_occ" value="0.80"/>
<param name="sdf_map/min_ray_length" value="0.5"/>
<param name="sdf_map/max_ray_length" value="4.5"/>
<param name="sdf_map/virtual_ceil_height" value="-10"/>
<param name="sdf_map/optimistic" value="true" type="bool"/>
<param name="sdf_map/signed_dist" value="false" type="bool"/>
<!-- <param name="sdf_map/box_min_x" value="-4" type="double"/>
<param name="sdf_map/box_min_y" value="-7" type="double"/>
<param name="sdf_map/box_min_z" value="0.0" type="double"/>
<param name="sdf_map/box_max_x" value="4" type="double"/>
<param name="sdf_map/box_max_y" value="7" type="double"/>
<param name="sdf_map/box_max_z" value="2.0" type="double"/> -->
<param name="sdf_map/box_min_x" value="-7" type="double"/>
<param name="sdf_map/box_min_y" value="-15" type="double"/>
<param name="sdf_map/box_min_z" value="0" type="double"/>
<param name="sdf_map/box_max_x" value="7" type="double"/>
<param name="sdf_map/box_max_y" value="15" type="double"/>
<param name="sdf_map/box_max_z" value="1.7" type="double"/>
<param name="sdf_map/no_drone_1" value="false" type="bool"/>
<param name="map_ros/cx" value="$(arg cx)"/>
<param name="map_ros/cy" value="$(arg cy)"/>
<param name="map_ros/fx" value="$(arg fx)"/>
<param name="map_ros/fy" value="$(arg fy)"/>
<param name="map_ros/depth_filter_maxdist" value="4.6"/>
<param name="map_ros/depth_filter_mindist" value="0.2"/>
<param name="map_ros/depth_filter_margin" value="2"/>
<param name="map_ros/k_depth_scaling_factor" value="1000.0"/>
<param name="map_ros/skip_pixel" value="2"/>
<param name="map_ros/esdf_slice_height" value="0.5"/>
<param name="map_ros/visualization_truncate_height" value="10.09"/>
<param name="map_ros/visualization_truncate_low" value="-2.0"/>
<param name="map_ros/show_occ_time" value="false"/>
<param name="map_ros/show_esdf_time" value="false"/>
<param name="map_ros/show_all_map" value="true"/>
<param name="map_ros/frame_id" value="world"/>
<!-- Fsm -->
<param name="fsm/thresh_replan1" value="0.2" type="double"/>
<param name="fsm/thresh_replan2" value="0.2" type="double"/>
<param name="fsm/thresh_replan3" value="1.5" type="double"/>
<!-- <param name="fsm/thresh_replan1" value="0.00001" type="double"/> -->
<!-- <param name="fsm/thresh_replan2" value="100.0" type="double"/> -->
<!-- <param name="fsm/thresh_replan3" value="0.1" type="double"/> -->
<param name="fsm/replan_time" value="0.200" type="double"/>
<param name="fsm/sync_interval" value="0.200" type="double"/>
<param name="fsm/wait_delete_duration" value="0.05" type="double"/>
<param name="fsm/gain_thresh" value="10" type="int"/>
<param name="fsm/attempt_interval" value="0.1" type="double"/>
<param name="fsm/pair_opt_interval" value="0.5" type="double"/>
<param name="partitioning/min_unknown" value="4000" type="int"/>;
<param name="partitioning/min_frontier" value="100" type="int"/>;
<param name="partitioning/min_free" value="3000" type="int"/>;
<param name="partitioning/consistent_cost" value="-5" type="double"/>;
<param name="partitioning/consistent_cost2" value="8" type="double"/>;
<param name="partitioning/w_unknown" value="0.0" type="double"/>;
<param name="partitioning/grid_size" value="5.0" type="double"/>;
<param name="partitioning/use_swarm_tf" value="true" type="bool"/>;
<!-- Exploration manager -->
<param name="exploration/refine_local" value="true" type="bool"/>
<param name="exploration/refined_num" value="7" type="int"/>
<param name="exploration/refined_radius" value="5.0" type="double"/>
<param name="exploration/max_decay" value="0.8" type="double"/>
<param name="exploration/top_view_num" value="15" type="int"/>
<param name="exploration/vm" value="$(eval 1.0 * arg('max_vel'))" type="double"/>
<param name="exploration/am" value="$(eval 1.0 * arg('max_acc'))" type="double"/>
<param name="exploration/yd" value="$(eval 80 * 3.1415926 / 180.0)" type="double"/>
<!-- <param name="exploration/yd" value="$(eval 60 * 3.1415926 / 180.0)" type="double"/> -->
<param name="exploration/ydd" value="$(eval 90 * 3.1415926 / 180.0)" type="double"/>
<param name="exploration/w_dir" value="1.5" type="double"/>
<param name="exploration/tsp_dir" value="$(find lkh_tsp_solver)/resource" type="string"/>
<param name="exploration/mtsp_dir" value="$(find lkh_mtsp_solver)/resource" type="string"/>
<param name="exploration/drone_num" value="$(arg drone_num)" type="double"/>
<param name="exploration/drone_id" value="$(arg drone_id)" type="int"/>
<param name="exploration/init_plan_num" value="2" type="int"/>
<param name="frontier/cluster_min" value="100" type="int"/>
<param name="frontier/cluster_size_xy" value="2.0" type="double"/>
<param name="frontier/cluster_size_z" value="10.0" type="double"/>
<param name="frontier/min_candidate_dist" value="0.5" type="double"/>
<param name="frontier/min_candidate_clearance" value="0.21" type="double"/>
<param name="frontier/candidate_dphi" value="$(eval 15 * 3.1415926 / 180.0)" type="double"/>
<param name="frontier/candidate_rnum" value="3" type="int"/>
<param name="frontier/candidate_rmin" value="1.0" type="double"/>
<param name="frontier/candidate_rmax" value="1.5" type="double"/>
<param name="frontier/down_sample" value="3" type="int"/>;
<param name="frontier/min_visib_num" value="30" type="int"/>;
<param name="frontier/min_view_finish_fraction" value="0.2" type="double"/>;
<!-- Perception utils -->
<param name="perception_utils/top_angle" value="0.56125" type="double"/>;
<param name="perception_utils/left_angle" value="0.69222" type="double"/>;
<param name="perception_utils/right_angle" value="0.68901" type="double"/>;
<param name="perception_utils/max_dist" value="4.5" type="double"/>;
<param name="perception_utils/vis_dist" value="1.0" type="double"/>;
<param name="heading_planner/yaw_diff" value="$(eval 30 * 3.1415926 / 180.0)" type="double"/>
<param name="heading_planner/half_vert_num" value="5" type="int"/>
<param name="heading_planner/lambda1" value="2.0" type="double"/>
<param name="heading_planner/lambda2" value="1.0" type="double"/>
<param name="heading_planner/max_yaw_rate" value="$(eval 10 * 3.1415926 / 180.0)" type="double"/>
<param name="heading_planner/w" value="20000.0" type="double"/>
<param name="heading_planner/weight_type" value="1" type="double"/>
<!-- planner manager -->
<!-- <param name="manager/max_vel" value="$(arg max_vel)" type="double"/> -->
<param name="manager/max_vel" value="$(arg max_vel)" type="double"/>
<param name="manager/max_acc" value="$(arg max_acc)" type="double"/>
<param name="manager/max_jerk" value="4" type="double"/>
<param name="manager/dynamic_environment" value="0" type="int"/>
<param name="manager/local_segment_length" value="6.0" type="double"/>
<param name="manager/clearance_threshold" value="0.2" type="double"/>
<param name="manager/control_points_distance" value="0.5" type="double"/>
<param name="manager/use_geometric_path" value="true" type="bool"/>
<param name="manager/use_kinodynamic_path" value="true" type="bool"/>
<param name="manager/use_topo_path" value="false" type="bool"/>
<param name="manager/use_optimization" value="true" type="bool"/>
<param name="manager/use_active_perception" value="true" type="bool"/>
<param name="manager/min_time" value="true" type="bool"/>
<param name="manager/relax_time1" value="0.3" type="double"/>
<param name="manager/relax_time2" value="1.5" type="double"/>
<param name="manager/max_yawdot" value="$(eval 120 * 3.1415926 / 180.0)" type="double"/>
<!-- kinodynamic path searching -->
<param name="search/max_tau" value="0.8" type="double"/>
<param name="search/init_max_tau" value="1.0" type="double"/>
<param name="search/max_vel" value="$(arg max_vel)" type="double"/>
<param name="search/vel_margin" value="0.25" type="double"/>
<param name="search/max_acc" value="$(arg max_acc)" type="double"/>
<param name="search/w_time" value="10.0" type="double"/>
<param name="search/horizon" value="5.0" type="double"/>
<param name="search/lambda_heu" value="10.0" type="double"/>
<param name="search/resolution_astar" value="0.025" type="double"/>
<param name="search/time_resolution" value="0.8" type="double"/>
<param name="search/margin" value="0.2" type="double"/>
<param name="search/allocate_num" value="100000" type="int"/>
<param name="search/check_num" value="10" type="int"/>
<param name="search/optimistic" value="false" type="bool"/>
<param name="astar/lambda_heu" value="10000.0" type="double"/>
<param name="astar/resolution_astar" value="0.3" type="double"/>
<param name="astar/allocate_num" value="1000000" type="int"/>
<param name="astar/max_search_time" value="0.001" type="double"/>
<!-- trajectory optimization -->
<param name="optimization/ld_smooth" value="5.0" type="double"/>
<param name="optimization/ld_dist" value="10.0" type="double"/>
<param name="optimization/ld_feasi" value="2.0" type="double"/>
<param name="optimization/ld_start" value="100.0" type="double"/>
<param name="optimization/ld_end" value="0.5" type="double"/>
<param name="optimization/ld_guide" value="1.5" type="double"/>
<param name="optimization/ld_waypt" value="7.0" type="double"/>
<param name="optimization/ld_view" value="0.0" type="double"/>
<param name="optimization/ld_time" value="1.5" type="double"/>
<param name="optimization/ld_swarm" value="5.0" type="double"/>
<param name="optimization/swarm_safe_dist" value="1.0" type="double"/>
<param name="optimization/dist0" value="0.7" type="double"/>
<param name="optimization/max_vel" value="$(arg max_vel)" type="double"/>
<param name="optimization/max_acc" value="$(arg max_acc)" type="double"/>
<param name="optimization/algorithm1" value="15" type="int"/>
<param name="optimization/algorithm2" value="11" type="int"/>
<param name="optimization/max_iteration_num1" value="2" type="int"/>
<param name="optimization/max_iteration_num2" value="2000" type="int"/>
<param name="optimization/max_iteration_num3" value="200" type="int"/>
<param name="optimization/max_iteration_num4" value="200" type="int"/>
<param name="optimization/max_iteration_time1" value="0.0001" type="double"/>
<param name="optimization/max_iteration_time2" value="0.005" type="double"/>
<param name="optimization/max_iteration_time3" value="0.003" type="double"/>
<param name="optimization/max_iteration_time4" value="0.003" type="double"/>
<param name="bspline/limit_vel" value="$(arg max_vel)" type="double"/>
<param name="bspline/limit_acc" value="$(arg max_acc)" type="double"/>
<param name="bspline/limit_ratio" value="1.1" type="double"/>
<param name="bspline/limit_vel" value="$(arg max_vel)" type="double"/>
<param name="bspline/limit_acc" value="$(arg max_acc)" type="double"/>
<param name="bspline/limit_ratio" value="1.1" type="double"/>
</node>
<!-- <node pkg="lkh_tsp_solver" name="tsp_solver_$(arg drone_id)" type="tsp_node" output="screen">
<param name="exploration/drone_id" value="$(arg drone_id)" type="int"/>
<param name="exploration/tsp_dir" value="$(find lkh_tsp_solver)/resource" type="string"/>
</node> -->
<node pkg="lkh_mtsp_solver" name="tsp_solver_$(arg drone_id)" type="mtsp_node" output="log">
<param name="exploration/drone_id" value="$(arg drone_id)" type="int"/>
<param name="exploration/mtsp_dir" value="$(find lkh_mtsp_solver)/resource" type="string"/>
<param name="exploration/problem_id" value="1" type="int"/>
</node>
<node pkg="lkh_mtsp_solver" name="acvrp_solver_$(arg drone_id)" type="mtsp_node" output="log">
<param name="exploration/drone_id" value="$(arg drone_id)" type="int"/>
<param name="exploration/mtsp_dir" value="$(find lkh_mtsp_solver)/resource" type="string"/>
<param name="exploration/problem_id" value="2" type="int"/>
</node>
</launch>