Skip to content

Add parameter files for Dingo (all variants), Ridgeback #25

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 2 commits into
base: rc/jazzy/2.5
Choose a base branch
from
Open

Add parameter files for Dingo (all variants), Ridgeback #25

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
aae5fe5
Add parameter files for Dingo (all variants), Ridgeback
civerachb-cpr May 15, 2025
0ce927b
Add trailing newlines to config files, add missing remap to launch file
civerachb-cpr May 20, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion config/a200/localization.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,4 +43,4 @@ map_saver:
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
map_subscribe_transient_local: True
2 changes: 1 addition & 1 deletion config/a200/nav2.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -356,4 +356,4 @@ docking_server:
k_phi: 3.0
k_delta: 2.0
v_linear_min: 0.15
v_linear_max: 0.15
v_linear_max: 0.15
2 changes: 1 addition & 1 deletion config/a200/slam.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -63,4 +63,4 @@ slam_toolbox:
coarse_angle_resolution: 0.0349
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: true
use_response_expansion: true
2 changes: 1 addition & 1 deletion config/a300/localization.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,4 +43,4 @@ map_saver:
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
map_subscribe_transient_local: True
2 changes: 1 addition & 1 deletion config/a300/nav2.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -355,4 +355,4 @@ docking_server:
k_phi: 3.0
k_delta: 2.0
v_linear_min: 0.15
v_linear_max: 0.15
v_linear_max: 0.15
2 changes: 1 addition & 1 deletion config/a300/slam.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -63,4 +63,4 @@ slam_toolbox:
coarse_angle_resolution: 0.0349
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: true
use_response_expansion: true
46 changes: 46 additions & 0 deletions config/dd100/localization.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,46 @@
amcl:
ros__parameters:
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_link"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 100.0
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: sensors/lidar2d_0/scan

map_saver:
ros__parameters:
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
Loading