From 7749eb4e4c1bbedd7c9df292d74b364d52b4400d Mon Sep 17 00:00:00 2001
From: Grzegorz Cielniak <gcielniak@lincoln.ac.uk>
Date: Tue, 12 Dec 2023 22:11:14 +0000
Subject: [PATCH] map update and nav fixes for improved robustness

---
 src/limo_navigation/maps/assessment_map.pgm  | Bin 1950 -> 1813 bytes
 src/limo_navigation/maps/assessment_map.yaml |   2 +-
 src/limo_navigation/params/nav2_params.yaml  |  20 +++++++++----------
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/src/limo_navigation/maps/assessment_map.pgm b/src/limo_navigation/maps/assessment_map.pgm
index 4602c0f3dbc914c6d4ae044a62cdf54bd0a0f151..bed663f44adfe546b4ae1c217a3932bc9114108d 100644
GIT binary patch
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literal 1950
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diff --git a/src/limo_navigation/maps/assessment_map.yaml b/src/limo_navigation/maps/assessment_map.yaml
index af43ef13..a5af9020 100644
--- a/src/limo_navigation/maps/assessment_map.yaml
+++ b/src/limo_navigation/maps/assessment_map.yaml
@@ -1,7 +1,7 @@
 image: assessment_map.pgm
 mode: trinary
 resolution: 0.05
-origin: [-1.51, -0.758, 0]
+origin: [-1.51, -1.31, 0]
 negate: 0
 occupied_thresh: 0.65
 free_thresh: 0.25
diff --git a/src/limo_navigation/params/nav2_params.yaml b/src/limo_navigation/params/nav2_params.yaml
index 9d52114b..65b57727 100644
--- a/src/limo_navigation/params/nav2_params.yaml
+++ b/src/limo_navigation/params/nav2_params.yaml
@@ -1,11 +1,11 @@
 amcl:
   ros__parameters:
     use_sim_time: False
-    alpha1: 0.2
-    alpha2: 0.2
-    alpha3: 0.2
-    alpha4: 0.2
-    alpha5: 0.2
+    alpha1: 0.02
+    alpha2: 0.02
+    alpha3: 0.02
+    alpha4: 0.02
+    alpha5: 0.02
     base_frame_id: "base_footprint"
     beam_skip_distance: 0.5
     beam_skip_error_threshold: 0.9
@@ -14,7 +14,7 @@ amcl:
     global_frame_id: "map"
     lambda_short: 0.1
     laser_likelihood_max_dist: 2.0
-    laser_max_range: 100.0
+    laser_max_range: 10.0
     laser_min_range: -1.0
     laser_model_type: "likelihood_field"
     max_beams: 60
@@ -187,13 +187,13 @@ controller_server:
 global_costmap:
   global_costmap:
     ros__parameters:
-      footprint_padding: 0.03
+      footprint_padding: 0.00
       update_frequency: 1.0
       publish_frequency: 1.0
       global_frame: map
       robot_base_frame: base_link
       use_sim_time: True
-      robot_radius: 0.22 # radius set and used, so no footprint points
+      robot_radius: 0.10 # radius set and used, so no footprint points
       resolution: 0.05
       plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
       obstacle_layer:
@@ -224,7 +224,7 @@ global_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         enabled: true
-        inflation_radius: 0.55
+        inflation_radius: 0.1
         cost_scaling_factor: 1.0
         inflate_unknown: false
         inflate_around_unknown: true
@@ -266,7 +266,7 @@ local_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         enabled: true
-        inflation_radius: 0.4
+        inflation_radius: 0.1
         cost_scaling_factor: 1.0
         inflate_unknown: false
         inflate_around_unknown: true