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160 lines (158 loc) · 9.08 KB
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<launch>
<arg name="local_map_size_x"/>
<arg name="local_map_size_y"/>
<arg name="local_map_size_z"/>
<arg name="odom_topic"/>
<arg name="camera_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="max_jer"/>
<arg name="planning_horizon"/>
<arg name="enable_virtual_wall"/>
<arg name="virtual_ceil"/>
<arg name="virtual_ground"/>
<arg name="map_resolution"/>
<arg name="inflation_size"/>
<arg name="point_num"/>
<arg name="point0_x"/>
<arg name="point0_y"/>
<arg name="point0_z"/>
<arg name="point1_x"/>
<arg name="point1_y"/>
<arg name="point1_z"/>
<arg name="point2_x"/>
<arg name="point2_y"/>
<arg name="point2_z"/>
<arg name="point3_x"/>
<arg name="point3_y"/>
<arg name="point3_z"/>
<arg name="point4_x"/>
<arg name="point4_y"/>
<arg name="point4_z"/>
<arg name="flight_type"/>
<arg name="drone_id"/>
<arg name="init_x"/>
<arg name="init_y"/>
<arg name="init_z"/>
<!-- main node -->
<!-- <node pkg="diff_planner" name="diff_planner_node" type="diff_planner_node" output="screen" launch-prefix="valgrind"> -->
<node pkg="diff_planner" name="drone_$(arg drone_id)_diff_planner_node" type="diff_planner_node" output="screen">
<remap from="~odom_world" to="$(arg odom_topic)"/>
<remap from="~mandatory_stop" to="/mandatory_stop_to_planner"/>
<remap from="~planning/trajectory" to = "/drone_$(arg drone_id)_planning/trajectory"/>
<remap from="~planning/data_display" to = "/drone_$(arg drone_id)_planning/data_display"/>
<remap from="~planning/broadcast_traj_send" to = "/broadcast_traj_from_planner"/>
<remap from="~planning/broadcast_traj_recv" to = "/broadcast_traj_to_planner"/>
<remap from="~planning/heartbeat" to = "/drone_$(arg drone_id)_traj_server/heartbeat"/>
<remap from="~grid_map/odom" to="$(arg odom_topic)"/>
<remap from="~grid_map/cloud" to="$(arg cloud_topic)"/>
<remap from="~grid_map/pose" to = "$(arg camera_pose_topic)"/>
<remap from="~grid_map/depth" to = "$(arg depth_topic)"/>
<!-- planning fsm -->
<param name="fsm/flight_type" value="$(arg flight_type)" type="int"/>
<param name="fsm/thresh_replan_time" value="0.5" type="double"/>
<param name="fsm/planning_horizon" value="$(arg planning_horizon)" type="double"/>
<!--always set to 1.5 times grater than sensing horizen-->
<param name="fsm/emergency_time" value="0.8" type="double"/>
<param name="fsm/realworld_experiment" value="true"/>
<param name="fsm/fail_safe" value="true"/>
<!-- Allow final goal modification -->
<param name="fsm/mondify_final_goal" value="true"/>
<!-- Enable stuck detection mechanism to handle deadlock situations -->
<param name="fsm/enable_stuck_detect" value="true"/>
<param name="fsm/waypoint_num" value="$(arg point_num)" type="int"/>
<param name="fsm/waypoint0_x" value="$(arg point0_x)" type="double"/>
<param name="fsm/waypoint0_y" value="$(arg point0_y)" type="double"/>
<param name="fsm/waypoint0_z" value="$(arg point0_z)" type="double"/>
<param name="fsm/waypoint1_x" value="$(arg point1_x)" type="double"/>
<param name="fsm/waypoint1_y" value="$(arg point1_y)" type="double"/>
<param name="fsm/waypoint1_z" value="$(arg point1_z)" type="double"/>
<param name="fsm/waypoint2_x" value="$(arg point2_x)" type="double"/>
<param name="fsm/waypoint2_y" value="$(arg point2_y)" type="double"/>
<param name="fsm/waypoint2_z" value="$(arg point2_z)" type="double"/>
<param name="fsm/waypoint3_x" value="$(arg point3_x)" type="double"/>
<param name="fsm/waypoint3_y" value="$(arg point3_y)" type="double"/>
<param name="fsm/waypoint3_z" value="$(arg point3_z)" type="double"/>
<param name="fsm/waypoint4_x" value="$(arg point4_x)" type="double"/>
<param name="fsm/waypoint4_y" value="$(arg point4_y)" type="double"/>
<param name="fsm/waypoint4_z" value="$(arg point4_z)" type="double"/>
<param name="grid_map/resolution" value="$(arg map_resolution)" />
<param name="grid_map/local_update_range_x" value="$(arg local_map_size_x)" />
<param name="grid_map/local_update_range_y" value="$(arg local_map_size_y)" />
<param name="grid_map/local_update_range_z" value="$(arg local_map_size_z)" /> <!-- different meaning between grid_map.cpp and grid_map_bigmap.cpp -->
<param name="grid_map/obstacles_inflation" value="$(arg inflation_size)" />
<param name="grid_map/enable_virtual_wall" value="$(arg enable_virtual_wall)"/>
<param name="grid_map/virtual_ceil" value="$(arg virtual_ceil)"/>
<param name="grid_map/virtual_ground" value="$(arg virtual_ground)"/>
<param name="grid_map/ground_height" value="-0.01"/>
<!-- camera parameter -->
<param name="grid_map/cx" value="$(arg cx)"/>
<param name="grid_map/cy" value="$(arg cy)"/>
<param name="grid_map/fx" value="$(arg fx)"/>
<param name="grid_map/fy" value="$(arg fy)"/>
<!-- depth filter -->
<param name="grid_map/use_depth_filter" value="true"/>
<param name="grid_map/depth_filter_tolerance" value="0.15"/>
<param name="grid_map/depth_filter_maxdist" value="5.0"/>
<param name="grid_map/depth_filter_mindist" value="0.2"/>
<param name="grid_map/depth_filter_margin" value="2"/>
<param name="grid_map/k_depth_scaling_factor" value="1000.0"/>
<param name="grid_map/skip_pixel" value="2"/>
<!-- local fusion -->
<param name="grid_map/p_hit" value="0.65"/>
<param name="grid_map/p_miss" value="0.35"/>
<param name="grid_map/p_min" value="0.12"/>
<param name="grid_map/p_max" value="0.90"/>
<param name="grid_map/p_occ" value="0.80"/>
<param name="grid_map/lidar_p_hit" value="0.9"/>
<param name="grid_map/lidar_p_miss" value="0.49"/>
<param name="grid_map/lidar_p_min" value="0.12"/>
<param name="grid_map/lidar_p_max" value="0.98"/>
<param name="grid_map/lidar_p_occ" value="0.85"/>
<param name="grid_map/cloud_enable_raycast" value="true"/>
<!-- when use lidar fading_time = -1.0 -->
<!-- when use vio fading_time = 1000 -->
<param name="grid_map/fading_time" value="1.0"/>
<param name="grid_map/min_ray_length" value="0.1"/>
<param name="grid_map/max_ray_length" value="4.5"/>
<param name="grid_map/visualization_truncate_height" value="1.9"/>
<param name="grid_map/show_occ_time" value="false"/>
<param name="grid_map/pose_type" value="2"/>
<param name="grid_map/frame_id" value="world"/>
<param name="grid_map/init_x" value="$(arg init_x)" />
<param name="grid_map/init_y" value="$(arg init_y)" />
<param name="grid_map/init_z" value="$(arg init_z)" />
<!-- planner manager -->
<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_jer" value="$(arg max_jer)" type="double"/>
<param name="manager/polyTraj_piece_length" value="1.5" type="double"/>
<param name="manager/feasibility_tolerance" value="0.05" type="double"/>
<param name="manager/planning_horizon" value="$(arg planning_horizon)" type="double"/>
<param name="manager/use_multitopology_trajs" value="false" type="bool"/>
<param name="manager/drone_id" value="$(arg drone_id)"/>
<!-- trajectory optimization -->
<param name="optimization/constraint_points_perPiece" value="5" type="int"/>
<param name="optimization/weight_obstacle" value="10000.0" type="double"/>
<param name="optimization/weight_obstacle_soft" value="5000.0" type="double"/>
<param name="optimization/weight_swarm" value="10000.0" type="double"/>
<param name="optimization/weight_feasibility" value="10000.0" type="double"/>
<param name="optimization/weight_sqrvariance" value="10000.0" type="double"/>
<param name="optimization/weight_time" value="10.0" type="double"/>
<param name="optimization/obstacle_clearance" value="0.15" type="double"/>
<param name="optimization/obstacle_clearance_soft" value="0.5" type="double"/>
<param name="optimization/swarm_clearance" value="0.15000000000000002" type="double"/> <!-- heterogeneous support: my required clearance -->
<param name="optimization/max_vel" value="$(arg max_vel)" type="double"/>
<param name="optimization/vel_tolerance" value="1.0" type="double"/>
<param name="optimization/max_acc" value="$(arg max_acc)" type="double"/>
<param name="optimization/acc_tolerance" value="1.0" type="double"/>
<param name="optimization/max_jer" value="$(arg max_jer)" type="double"/>
<param name="optimization/record_opt" value="true"/>
</node>
</launch>