Merge pull request #57 from ut-amrl/intermediate_planner

Intermediate planner (Most update to date planner)

CMakeLists.txt

@@ -42,7 +42,7 @@ SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
 SET(libs roslib roscpp rosbag glog gflags amrl_shared_lib boost_system lua5.1
-    pthread)
+    pthread costmap_2d)
 
 ADD_LIBRARY(shared_library
             src/visualization/visualization.cc

config/navigation.lua

@@ -4,11 +4,12 @@ end
 
 NavigationParameters = {
   laser_topics = {
-    "/velodyne_2dscan",
+    "/scan",
+    -- "/velodyne_2dscan",
     "/kinect_laserscan",
   };
   laser_frame = "base_link";
-  odom_topic = "/jackal_velocity_controller/odom";
+  odom_topic = "/odom";
   localization_topic = "localization";
   image_topic = "/camera/rgb/image_raw/compressed";
   init_topic = "initialpose";
@@ -20,7 +21,7 @@ NavigationParameters = {
   max_angular_accel = 0.5;
   max_angular_decel = 0.5;
   max_angular_speed = 1.0;
-  carrot_dist = 10;
+  carrot_dist = 1.5;
   system_latency = 0.24;
   obstacle_margin = 0.15;
   num_options = 31;
@@ -39,6 +40,23 @@ NavigationParameters = {
   camera_calibration_path = "config/camera_calibration_kinect.yaml";
   model_path = "../preference_learning_models/jit_cost_model_outdoor_6dim.pt";
   evaluator_type = "linear";
+  intermediate_goal_dist = 10; 
+  max_inflation_radius = 1;
+  min_inflation_radius = 0.3;
+  local_costmap_resolution = 0.05;
+  local_costmap_size = 20;
+  global_costmap_resolution = 0.1;
+  global_costmap_size_x = 100;
+  global_costmap_size_y = 100;
+  global_costmap_origin_x = -10;
+  global_costmap_origin_y = 0;
+  lidar_range_min = 0.1;
+  lidar_range_max = 10.0;
+  replan_dist = 2;
+  object_lifespan = 15;
+  inflation_coeff = 8;
+  distance_weight = 3;
+  recovery_carrot_dist = 0.7;
 };
 
 AckermannSampler = {