Add config files for ca_move_base

Author: Emiliano Borghi

navigation/ca_move_base/config/controllers.yaml

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+# controllers:
+#    - name: 'eband'
+#      type: 'eband_local_planner/EBandPlannerROS'
+#    - name: 'dwa'
+#      type: 'dwa_local_planner/DWAPlannerROS'
+# eband:
+#   Ctrl_Rate: 20.0
+#   bubble_velocity_multiplier: 2.0
+#   costmap_weight: 10.0
+#   differential_drive: true
+#   disallow_hysteresis: false
+#   eband_equilibrium_approx_max_recursion_depth: 3
+#   eband_equilibrium_relative_overshoot: 0.75
+#   eband_external_force_gain: 3.0
+#   eband_internal_force_gain: 2.0
+#   eband_min_relative_overlap: 0.7
+#   eband_significant_force_lower_bound: 0.15
+#   eband_tiny_bubble_distance: 0.01
+#   eband_tiny_bubble_expansion: 0.01
+#   in_place_trans_vel: 0.0
+#   k_damp: 3.5
+#   k_prop: 4.0
+#   marker_lifetime: 0.5
+#   max_acceleration: 0.2
+#   max_rotational_acceleration: 0.3
+#   max_translational_acceleration: 0.4
+#   # Lower values for testing with the actual robot.
+#   max_vel_lin: 1.1 #0.5 #1.45
+#   max_vel_th: 1.2 #0.5 #2.0
+#   min_in_place_vel_th: 0.05
+#   min_vel_lin: 0.0
+#   min_vel_th: 0.0
+#   num_iterations_eband_optimization: 4
+#   rot_stopped_vel: 0.01
+#   rotation_correction_threshold: 0.5
+#   rotation_threshold_multiplier: 1.0
+#   trans_stopped_vel: 0.01
+#   virtual_mass: 100.0
+#   xy_goal_tolerance: 0.2
+#   yaw_goal_tolerance: 0.2
+
+# dwa:
+#   max_vel_x: 2.0
+#   min_vel_x: 0.0
+
+#   max_vel_y: 0.0
+#   min_vel_y: 0.0
+
+#   max_trans_vel: 2.12
+#   min_trans_vel: 0.1  # this is the min trans velocity when there is negligible rotational velocity
+#   trans_stopped_vel: 0.1
+
+#   # Warning!
+#   #   do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities
+#   #   are non-negligible and small in place rotational velocities will be created.
+
+#   max_rot_vel: 2.0  # choose slightly less than the base's capability
+#   min_rot_vel: 0.4  # this is the min angular velocity when there is negligible translational velocity
+#   rot_stopped_vel: 0.1
+
+#   acc_lim_x: 0.7 # maximum is theoretically 2.0, but we
+#   acc_lim_theta: 10.0
+#   acc_lim_y: 0.1      # diff drive robot
+
+#   # Goal Tolerance Parameters
+#   yaw_goal_tolerance: 0.4  # 0.05
+#   xy_goal_tolerance: 0.2   # 0.10
+#   # latch_xy_goal_tolerance: false
+
+#   # Forward Simulation Parameters
+#   sim_time: 2.0       # 1.7
+#   sim_granularity: 0.025
+#   angular_sim_granularity: 0.025
+#   vx_samples: 20      # 3
+#   vy_samples: 1       # diff drive robot, there is only one sample
+#   vtheta_samples: 20  # 20
+
+#   # Trajectory Scoring Parameters
+#   path_distance_bias: 0.1      # 32.0   - weighting for how much it should stick to the global path plan -- if this value is too high, won't avoid dynamic obstacles
+#   goal_distance_bias: 40.0     # 24.0   - wighting for how much it should attempt to reach its goal
+#   occdist_scale: 0.2           # 0.01   - weighting for how much the controller should avoid obstacles
+#   forward_point_distance: 0.0  # 0.325  - how far along to place an additional scoring point
+#   stop_time_buffer: 0.3        # 0.2    - amount of time a robot must stop in before colliding for a valid traj.
+#   scaling_speed: 1.0           # 0.25   - absolute velocity at which to start scaling the robot's footprint
+#   max_scaling_factor: 0.2      # 0.2    - how much to scale the robot's footprint when at speed.
+
+#   # Oscillation Prevention Parameters
+#   oscillation_reset_dist: 0.1  # 0.05   - how far to travel before resetting oscillation flags
+
+#   holonomic_robot: false
+
+#     # Debugging
+#   publish_traj_pc: true
+#   publish_cost_grid_pc: true
+#   global_frame_id: map
+
+controllers:
+  - name: 'controller'
+    type: 'base_local_planner/TrajectoryPlannerROS'
+controller:
+  holonomic_robot: false

navigation/ca_move_base/config/planners.yaml

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+# planners:
+#   - name: 'GlobalPlanner'
+#     type: 'global_planner/GlobalPlanner'
+#   - name: 'SBPLLatticePlanner'
+#     type: 'SBPLLatticePlanner'
+# planner_patience: 10.0
+# GlobalPlanner:
+#   allow_unknown: false
+#   default_tolerance: 0.0
+#   visualize_potential: true
+#   use_dijkstra: true
+#   use_quadratic: false
+#   use_grid_path: false
+#   old_navfn_behaviour: false
+#   lethal_cost: 253
+#   neutral_cost: 66
+#   cost_factor: 0.55
+# SBPLLatticePlanner:
+#   planner_type: 'ARAPlanner'
+#   allocated_time: 20.0 # default: 10.0
+#   initial_epsilon: 3.0
+#   environment_type: 'XYThetaLattice' # The only environment supported
+#   forward_search: true # default is false
+#   nominalvel_mpersecs: 0.7
+#   timetoturn45degsinplace_secs: 0.6
+#   lethal_obstacle: 250
+
+planners: 
+  - name: 'planner'
+    type: 'global_planner/GlobalPlanner'
+planner:
+  allow_unknown: false
+  default_tolerance: 0.0
+  visualize_potential: false
+  use_dijkstra: true
+  use_quadratic: false
+  use_grid_path: false
+  old_navfn_behaviour: false

navigation/ca_move_base/config/recovery_behaviors.yaml

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+recovery_behaviors:
+  - name: 'rotate_recovery'
+    type: 'rotate_recovery/RotateRecovery'
+  - name: 'clear_costmap'
+    type: 'clear_costmap_recovery/ClearCostmapRecovery'
+  - name: 'moveback_recovery'
+    type: 'moveback_recovery/MoveBackRecovery'
+
+moveback_recovery:
+  linear_vel_back: -0.1 # default -0.3
+  step_back_length: 0.3  # default 1.0
+  step_back_timeout: 5.0 # default 15.0