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algorithm.xml
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algorithm.xml
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<launch>
<arg name="map_size_x_"/>
<arg name="map_size_y_"/>
<arg name="map_size_z_"/>
<arg name="box_min_x"/>
<arg name="box_min_y"/>
<arg name="box_min_z"/>
<arg name="box_max_x"/>
<arg name="box_max_y"/>
<arg name="box_max_z"/>
<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="see_dist"/>
<arg name="map_dist"/>
<!-- main node -->
<node pkg="exploration_manager" name="exploration_node" type="exploration_node" output="screen">
<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)"/>
<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="$(arg map_size_z_)" />
<!-- <param name="sdf_map/obstacles_inflation" value="0.099" /> -->
<param name="sdf_map/obstacles_inflation" value="0.199" />
<param name="sdf_map/local_bound_inflate" value="0.5"/>
<param name="sdf_map/local_map_margin" value="50"/>
<param name="sdf_map/ground_height" value="-1.0"/>
<param name="sdf_map/default_dist" value="0.0"/>
<param name="sdf_map/p_hit" value="0.65"/>
<param name="sdf_map/p_miss" value="0.35"/>
<param name="sdf_map/p_min" value="0.12"/>
<param name="sdf_map/p_max" value="0.90"/>
<param name="sdf_map/p_occ" value="0.80"/>
<param name="sdf_map/min_ray_length" value="0.5"/>
<param name="sdf_map/view_pos_threshold" value="0.5"/>
<!-- max change -->
<param name="sdf_map/max_ray_length" value="$(arg see_dist)"/>
<param name="sdf_map/prediction_max_ray_length" value="30.5"/>
<param name="sdf_map/virtual_ceil_height" value="-10"/>
<param name="sdf_map/optimistic" value="false" type="bool"/>
<param name="sdf_map/signed_dist" value="false" type="bool"/>
<param name="sdf_map/box_min_x" value="$(arg box_min_x)" type="double"/>
<param name="sdf_map/box_min_y" value="$(arg box_min_y)" type="double"/>
<param name="sdf_map/box_min_z" value="$(arg box_min_z)" type="double"/>
<param name="sdf_map/box_max_x" value="$(arg box_max_x)" type="double"/>
<param name="sdf_map/box_max_y" value="$(arg box_max_y)" type="double"/>
<param name="sdf_map/box_max_z" value="$(arg box_max_z)" type="double"/>
<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="$(arg map_dist)"/>
<param name="map_ros/depth_filter_mindist" value="0.25"/>
<param name="map_ros/depth_filter_margin" value="2"/>
<param name="map_ros/k_depth_scaling_factor" value="1000.0"/>
<param name="map_ros/skip_pixel" value="2"/>
<param name="map_ros/esdf_slice_height" value="0.3"/>
<param name="map_ros/visualization_truncate_height" value="50.0"/>
<param name="map_ros/visualization_truncate_low" value="-2.0"/>
<param name="map_ros/show_occ_time" value="false"/>
<param name="map_ros/show_esdf_time" value="false"/>
<param name="map_ros/show_all_map" value="true"/>
<param name="map_ros/frame_id" value="world"/>
<!-- Fsm -->
<param name="fsm/thresh_replan1" value="0.5" type="double"/>
<param name="fsm/thresh_replan2" value="0.5" type="double"/>
<param name="fsm/thresh_replan3" value="1.5" type="double"/>
<param name="fsm/replan_time" value="0.200" type="double"/>
<!-- Exploration manager -->
<param name="exploration/refine_local" value="true" type="bool"/>
<param name="exploration/refined_num" value="7" type="int"/>
<param name="exploration/refined_radius" value="5.0" type="double"/>
<param name="exploration/max_decay" value="0.8" type="double"/>
<param name="exploration/top_view_num" value="15" type="int"/>
<param name="exploration/vm" value="$(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 30 * 3.1415926 / 180.0)" type="double"/>
<param name="exploration/ydd" value="$(eval 30 * 3.1415926 / 180.0)" type="double"/>
<param name="exploration/w_dir" value="1.5" type="double"/>
<param name="exploration/tsp_dir" value="$(find lkh_tsp_solver)/resource" type="string"/>
<param name="exploration/relax_time" value="1.0" type="double"/>
<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="0.75" type="double"/>
<param name="frontier/min_candidate_clearance" value="0.21" type="double"/>
<param name="frontier/candidate_dphi" value="$(eval 15 * 3.1415926 / 180.0)" type="double"/>
<param name="frontier/candidate_rnum" value="3" type="int"/>
<param name="frontier/candidate_rmin" value="1.5" type="double"/>
<param name="frontier/candidate_rmax" value="2.5" type="double"/>
<param name="frontier/down_sample" value="3" type="int"/>;
<param name="frontier/min_visib_num" value="15" type="int"/>;
<param name="frontier/min_view_finish_fraction" value="0.2" type="double"/>;
<!-- Reconstruction FSM -->
<!-- <param name="reconfsm/replan_time" value="0.800" type="double"/>
<param name="reconfsm/replan_1" value="1.6" type="double"/>
<param name="reconfsm/replan_2" value="3.0" type="double"/> -->
<!-- palace -->
<param name="reconfsm/replan_time" value="0.800" type="double"/>
<param name="reconfsm/replan_1" value="1.5" type="double"/>
<param name="reconfsm/replan_2" value="3.0" type="double"/>
<param name="reconfsm/replan_proportion" value="0.4" type="double"/>
<param name="reconfsm/img_dir_" value="Your IMG Folder" type="string"/>;
<param name="reconfsm/noise_mean" value="0.0" type="double"/>
<param name="reconfsm/noise_variance" value="0.07" type="double"/>
<param name="reconfsm/cx" value="640.0" type="double"/>
<param name="reconfsm/cy" value="480.0" type="double"/>
<param name="reconfsm/fx" value="762.7222900390625" type="double"/>
<param name="reconfsm/fy" value="762.7222900390625" type="double"/>
<param name="reconfsm/img_flag" value="false" type="bool"/>
<!-- Prediction Reconstruction Manager -->
<param name="predmanager/center_x" value="$(arg box_max_x)" type="double"/>
<param name="predmanager/map_size" value="30.0" type="double"/>
<param name="predmanager/far_goal" value="12.0" type="double"/>
<param name="predmanager/sphere_radius" value="4.0" type="double"/>
<param name="predmanager/finish_num" value="10" type="int"/>
<!-- Surface Prediction -->
<param name="surf_pred/model_" value="spm.pt" type="string"/>
<!-- Global Planner -->
<param name="global/sample_r_min_" value="6.5" type="double"/>;
<param name="global/sample_r_max_" value="6.7" type="double"/>;
<param name="global/sample_z_size_" value="0.1" type="double"/>;
<param name="global/sample_z_range_" value="4.0" type="double"/>;
<param name="global/sample_phi_range_" value="$(eval 10.0 * 3.1415926 / 180.0)" type="double"/>;
<param name="global/sample_angle_step_" value="$(eval 60.0 * 3.1415926 / 180.0)" type="double"/>;
<param name="global/sample_theta_threshold_" value="$(eval 50.0 * 3.1415926 / 180.0)" type="double"/>;
<param name="global/sample_r_num_" value="2" type="int"/>;
<param name="global/sample_z_num_" value="1" type="int"/>;
<param name="global/sample_min_dist_" value="0.75" type="double"/>;
<param name="global/tsp_refine_radius_" value="10.0" type="double"/>;
<param name="global/tsp_max_decay_" value="0.8" type="double"/>;
<param name="global/downsample_coeff_" value="1.0" type="double"/>;
<param name="global/downsample_each_" value="10.0" type="double"/>;
<param name="global/uniform_grid_size_" value="5.0" type="double"/>;
<param name="global/projection_param_" value="0.0005" type="double"/>;
<param name="global/normal_judge_param_" value="0.8" type="double"/>;
<param name="global/visible_threshold_" value="0.1" type="double"/>;
<param name="global/tsp_refine_num_" value="20" type="int"/>;
<param name="global/tsp_topvp_num_" value="5" type="int"/>;
<param name="global/tsp_dir_" value="tsp_dir" type="string"/>;
<param name="global/nbv_distlb_" value="4.0" type="double"/>;
<param name="global/nbv_distub_" value="6.5" type="double"/>;
<param name="global/dist_cost_" value="0.5" type="double"/>;
<param name="global/consistency_cost_" value="5.0" type="double"/>;
<param name="global/cluster_pca_diameter_" value="0.6" type="double"/>;
<!-- Local Planner -->
<param name="local/region_max_size_" value="3.0" type="double"/>;
<param name="local/downsample_factor_" value="1.0" type="double"/>;
<param name="local/normal_length_" value="0.8" type="double"/>;
<param name="local/vp_min_radius_" value="6.5" type="double"/>;
<param name="local/vp_max_radius_" value="6.7" type="double"/>;
<param name="local/vp_z_size_" value="2.0" type="double"/>;
<param name="local/vp_z_range_" value="2.0" type="double"/>;
<param name="local/vp_phi_range_" value="$(eval 15.0 * 3.1415926 / 180.0)" type="double"/>;
<param name="local/vp_angle_step_" value="$(eval 15.0 * 3.1415926 / 180.0)" type="double"/>;
<param name="local/vp_theta_upper_" value="$(eval 50.0 * 3.1415926 / 180.0)" type="double"/>;
<param name="local/vp_r_num_" value="1" type="int"/>;
<param name="local/vp_z_num_" value="2" type="int"/>;
<param name="local/vp_visible_threshold_" value="0.3" type="double"/>;
<param name="local/tsp_dir_" value="local_tsp" type="string"/>;
<param name="local/vp_pseudo_bias_" value="$(eval 11.0 * 3.1415926 / 180.0)" type="double"/>;
<param name="local/interval" value="1.5" type="double"/>;
<param name="local/local_normal_threshold" value="$(eval 50.0 * 3.1415926 / 180.0)" type="double"/>;
<param name="local/cluster_pca_diameter_" value="0.4" type="double"/>;
<!-- Perception utils -->
<param name="perception_utils/top_angle" value="0.7" type="double"/>;
<param name="perception_utils/left_angle" value="0.7" type="double"/>;
<param name="perception_utils/right_angle" value="0.7" type="double"/>;
<param name="perception_utils/top_angle_pred" value="0.72" type="double"/>;
<param name="perception_utils/left_angle_pred" value="0.72" type="double"/>;
<param name="perception_utils/right_angle_pred" value="0.72" type="double"/>;
<!-- change max_dist for visiblity -->
<param name="perception_utils/max_dist" value="$(arg see_dist)" type="double"/>;
<param name="perception_utils/vis_dist" value="1.0" type="double"/>;
<param name="heading_planner/yaw_diff" value="$(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="0.35" 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="true" 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"/>
<!-- 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/lambda_heu_global" value="100000.0" type="double"/>
<param name="astar/resolution_astar" value="0.2" type="double"/>
<param name="astar/allocate_num" value="1000000" type="int"/>
<param name="astar/max_search_time" value="0.005" type="double"/>
<!-- trajectory optimization -->
<param name="optimization/ld_smooth" value="40.0" type="double"/>
<param name="optimization/ld_dist" value="50.0" type="double"/>
<param name="optimization/ld_feasi" value="400.0" type="double"/>
<param name="optimization/ld_start" value="10000.0" type="double"/>
<!-- End soft constriant: 0.5, hard constriant: 100.0 -->
<param name="optimization/ld_end" value="100.0" type="double"/>
<param name="optimization/ld_guide" value="1.5" type="double"/>
<param name="optimization/ld_waypt" value="100.0" type="double"/>
<param name="optimization/ld_view" value="0.0" type="double"/>
<!-- time distribution -->
<param name="optimization/ld_time" value="20.0" type="double"/>
<!-- ** safety threshold about size of drone ** -->
<param name="optimization/dist0" value="0.8" 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>
</launch>