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ROS Software Maintainer: ROBOTIS

ROBOTIS e-Manual

• ROBOTIS e-Manual for TurtleBot3

ROS API

map_server

This package is used map_server package.

amcl

This package is used amcl package.

Parameters

This package provides parameters from amcl.launch.xml in turtlebot3_navigation directory.

<arg name="scan_topic"     default="scan"/>     # topic name for the sensor values from 
                                                  the distance sensor
<arg name="initial_pose_x" default="0.0"/>      # initial x-coordinate value
<arg name="initial_pose_y" default="0.0"/>      # initial y-coordinate value
<arg name="initial_pose_a" default="0.0"/>      # initial yaw coordinate value

#---- execute the amcl node by referring to the parameter settings below. ----#

<node pkg="amcl" type="amcl" name="amcl">

<param name="min_particles" value="500"/>         # min number of particles allowed
<param name="max_particles" value="3000"/>        # max number of particles allowed
<param name="kld_err"       value="0.02"/>        # max error between the actual distribution 
                                                    and the estimated distribution
<param name="update_min_d" value="0.2"/>          # translational motion required for filter 
                                                    update (meter)
<param name="update_min_a" value="0.2"/>          # rotational motion required for filter 
                                                    update (radian) 
<param name="resample_interval" value="1"/>       # resampling interval 
<param name="transform_tolerance" value="0.5"/>   # conversion allowed time (by sec) 
<param name="recovery_alpha_slow" value="0.0"/>   # index drop rate(slow average weight 
                                                    filter), deactivated if 0.0 
<param name="recovery_alpha_fast" value="0.0"/>   # index drop rate(fast average weight 
                                                    filter), deactivated if 0.0 
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>  # refer to above initial_pose_x 
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>  # refer to above initial_pose_y 
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>  # refer to above initial_pose_a 
<param name="gui_publish_rate" value="50.0"/>     # max period to visually displaying scan and                                                    path info 
<param name="use_map_topic" value="$(arg use_map_topic)"/>    # same as the explanation for                                                                   use_map_topic 

#---------------------- distance sensor parameter --------------------------#

<remap from="scan" to="$(arg scan_topic)"/>       # change the sensor topic name 
<param name="laser_max_range" value="3.5"/>       # max distance of laser sensing distance 
<param name="laser_max_beams" value="180"/>       # max number of laser beams used during 
                                                    filter update 
<param name="laser_z_hit" value="0.5"/>           # z_hit mixed weight of sensor model   
<param name="laser_z_short" value="0.05"/>        # z_short mixed weight of sensor model   
<param name="laser_z_max" value="0.05"/>          # z_max mixed weight of sensor model  
<param name="laser_z_rand" value="0.5"/>          # x_rand mixed weight of sensor model   
<param name="laser_sigma_hit" value="0.2"/>       # standard deviation of Gaussian model 
                                                    using z_hit of sensor
<param name="laser_lambda_short" value="0.1"/>    # index drop rate parameter for z_short 
                                                    of sensor 
<param name="laser_likelihood_max_dist" value="2.0"/>     # max distance and obstacle for 
                                                            likelihood_field method sensor 
<param name="laser_model_type" value="likelihood_field"/> # select likelihood_field or beam 

#---------------------- parameter related to odometry --------------------------#

<param name="odom_model_type"value="diff"/>       # robot driving methods. "diff" or "omni" can be selected
<param name="odom_alpha1" value="0.1"/>           # estimated rotational motion noise of 
                                                    the odometry during rotational motion
<param name="odom_alpha2" value="0.1"/>           # estimated rotational motion noise of 
                                                    the odometry during translation motion
<param name="odom_alpha3" value="0.1"/>           # estimated translation motion noise of 
                                                    the odometry during translation motion 
<param name="odom_alpha4" value="0.1"/>           # estimated translation motion noise of 
                                                    the odometry during rotational motion  
<param name="odom_frame_id" value="odom"/>             # odometry frame 
<param name="base_frame_id" value="base_footprint"/>   # robot base frame 

robot_state_publisher

This package is used robot_state_publisher.

move_base

This package is used move_base. This package provides parameters from .yaml files in turtlebot3_navigation directory.

base_local_planner_params.yaml              # The parameter of the speed command to the robot
costmap_common_params_burger.yaml           # The parameter of costmap configuration consists
costmap_common_params_waffle.yaml           # The parameter of costmap configuration consists
costmap_common_params_waffle_pi.yaml        # The parameter of costmap configuration consists
dwa_local_planner_params.yaml               # The parameter of the speed command to the robot
global_costmap_params.yaml                  # The parameter of the global area motion planning
local_costmap_params.yaml                   # The parameter of the local area motion planning
move_base_params.yaml                       # parameter setting file of move_base that 
                                              supervises the motion planning.