MBF Parameters

Dynamically Reconfigurable MBF Parameters

The following parameters are changable at runtime, with rqt_reconfigure, or with launch file arguments

Planners

The global planner handles the actual path planning. There are many options available, but the default is navfn/NavfnROS.

Name	Explanation	Default
planners	global planner, e.g. `navfn/NavfnROS`
planner_frequency	The rate in Hz at which to run the planning loop	0.0 ??
planner_max_retries	How many times we will recall the planner in an attempt to find a valid plan before giving up	-1. ??
planner_patience	How long the planner will wait in seconds in an attempt to find a valid plan before giving up	5.0

Controllers

The controller handles generating control signals for the path generated by the global planner. Popular choices are DWALocalPlanner or EBandLocalPlanner.

Name	Explanation	Default
controllers	list of controller, e.g. eband_local_planner/EBandPlannerROS
controller_frequency	The rate in Hz at which to run the control loop and send velocity commands to the base	20.0
controller_max_retries	How many times we will recall the controller in an attempt to find a valid command before giving up	-1
controller_patience	How long the controller will wait in seconds without receiving a valid control before giving up	5.0

Oscillation

Name	Explanation	Default
oscillation_distance	How far in meters the robot must move to be considered not to be oscillating	0.5
oscillation_timeout	How long in seconds to allow for oscillation before executing recovery behaviors	0.0

Other

Name	Explanation	Default
recovery_enabled	enable the move_base_flex recovery behaviors to attempt to clear out space	true
recovery_patience	How much time we allow recovery behaviors to complete before canceling (or stopping if cancel fails)	15.0
restore_defaults	Restore to the original configuration	false
shutdown_costmaps	shutdown the costmaps of the node when move_base_flex is in an inactive state	false
shutdown_costmaps_delay	How long in seconds to wait after last action before shutting down the costmaps	1.0

Example

The beginner tutorials uses this configuration, for example

planners:
  - name: navfn/NavfnROS
    type: navfn/NavfnROS

controllers:
  - name: eband_local_planner/EBandPlannerROS
    type: eband_local_planner/EBandPlannerROS

controller_frequency: 5.0
controller_patience: 3.0

planner_frequency: 1.0
planner_patience: 5.0

oscillation_timeout: 10.0
oscillation_distance: 0.2

and loads these initial parameters (among others) in the launch file

<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>

  <node name="move_base_flex" pkg="mbf_costmap_nav" type="mbf_costmap_nav" required="true" output="screen" clear_params="true">
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
=>  <rosparam file="$(find mbf_beginner)/param/move_base_flex.yaml" command="load"/>
  </node>
</launch>

Sources

To use rqt_reconfigure, run

rosrun rqt_reconfigure rqt_reconfigure

Static Parameters

Move Base Flex has a number of parameters, that are not dynamically changable

Name	Explanation	Default
`robot_frame`	the frame of the robot, which will be used to determine its position	"base_link"
`map_frame`	the global frame the robot is controlling in	"map"
`force_stop_at_goal`	force move base flex to stop the robot once the goal is reached	false
`force_stop_on_cancel`	force move base flex to stop the robot on navigation cancellation	false
`mbf_tolerance_check`	force move base flex to check for the goal tolerance	false
`dist_tolerance`	distance tolerance to the given goal pose	0.1
`angle_tolerance`	angle tolerance to the given goal pose	π / 18.0
`tf_timeout`	time before a timeout used for tf requests	1.0

Global Costmap

TODO

Local Costmap

TODO