Section Files ;SectionFlags for Files: Map ; Map of the environment that the robot uses for ; navigation Section Localization Manager settings ;SectionFlags for Localization Manager settings: DistanceLimit 1000 ; If the standard deviation of the pose XY is less ; than this value the robot will be moved to this mean ; pose using moveTo. If the value is negative the ; limit is considered infinite. (used along with the ; AngleLimit parameter) AngleLimit 10 ; If the standard deviation of the pose Theta is less ; than this value the robot will be moved to this mean ; pose using moveTo. If the value is negative the ; limit is considered infinite. (used along with the ; DistanceLimit parameter) LogFlag false ; Write debug data to a file named locaManagerLog.txt Section Localization settings ;SectionFlags for Localization settings: NumSamples 2000 ; minumum 1, No of pose samples for MCL. The larger ; this number, the more computation will localization ; take. Too low a number will cause the robot to lose ; localization. This is also the maximum no of samples ; which will be used for localization if no of samples ; are varied along with the localization score. NumSamplesAtInit 2000 ; minumum 0, No of pose samples for MCL when ; initializing the robot in the map. Since this is ; presumably done when the robot is at rest, it can be ; larger than NumSamples and use more computation for ; more accuracy. (A value of 0 will make it equal to ; NumSamples). GridRes 100 ; minimum 10, The resolution of the occupancy grid ; representing the map in mm. Smaller resolution ; results in more accuracy but more computation. PassThreshold 0.2 ; range [0, 1], After MCL sensor correction, the ; sample with the maximum probablity will have a score ; based on the match between sensor and the map ; points. This is the minimum score out of 1.0 to be ; considered localized. KMmPerMm 0.05 ; minimum 0, When the robot moves linearly, the error ; in distance is proportional to the distance moved. ; This error is is given as a fraction in mm per mm KDegPerDeg 0.05 ; minimum 0, When the robot rotates, the error in the ; angle is proportional to the angle turned. This is ; expressed as a fraction in degs per deg. KDegPerMm 0.0025 ; minimum 0, When the robot moves linearly it can ; also affect its orientation. This drift can be ; expressed as a fraction in degs per mm. TriggerDistance 200 ; minimum 0, Since MCL localization is ; computationally expensive, it is triggered only when ; the robot has moved this far in mm. TriggerAngle 5 ; minimum 0, Since MCL localization is ; computationally expensive, it is triggered only when ; the robot has rotated this far in degs. TriggerTimeEnabled false ; This flag will decide if the localization will be ; called every 'TriggerTime' msecs. Once this flag is ; true the IdleTimeTrigger* parameters will take ; effect. This feature is meant to take care of cases ; when the robot has not moved much for a time and the ; position should be refined . TriggerTime 10000 ; minimum 1500, Once the TriggerTimeFlag is set to ; true this parameter will decide how long the robot ; has been idle in milli seconds before it starts a ; localization near the last known robot pose. IdleTimeTriggerX 200 ; minimum 0, When localization is triggered by idle ; time this parameter decides the range of the samples ; in X coords in mm. IdleTimeTriggerY 200 ; minimum 0, When localization is triggered by idle ; time this parameter decides the range of the samples ; in Y coords in mm. IdleTimeTriggerTh 15 ; minimum 0, When localization is triggered by idle ; time this parameter decides the range of the samples ; in Theta coords in degs. RecoverOnFail false ; If localization fails, this flag will decide if a ; static localization is attempted around last known ; robot pose. Such a reinitialization can cause the ; robot to be hopelessly lost if the actual robot is ; very different from its known pose FailedX 300 ; minimum 0, Range of the box in the X axis in mm to ; distribute samples after localization fails. FailedY 300 ; minimum 0, Range of the box in the Y axis in mm to ; distribute samples after localization fails. FailedTh 45 ; minimum 0, Range of the angle in degs to distribute ; samples after localization fails. FailedTries 3 ; minumum 0, No of times the localization will ; attempt to relocalize with increasing spreads after ; the localization fails. PeturbX 10 ; minimum 0, After sensor correction and resampling ; the chosen pose is perturbed to generate a new ; sample. This parameter decides the range to peturb ; the X axis in mm. PeturbY 10 ; minimum 0, After sensor correction and resampling ; the chosen pose is perturbed to generate a new ; sample. This parameter decides the range to peturb ; the Y axis in mm. PeturbTh 1 ; minimum 0, After sensor correction and resampling ; the chosen pose is perturbed to generate a new ; sample. This parameter decides the range to peturb ; the angle in degs. PeakStdX 10 ; minimum 0, Extent of the ellipse in the X axis in ; mm beyond which the sample poses will be considered ; multiple localizations after resampling. PeakStdY 10 ; minimum 0, Extent of the ellipse in the X axis in ; mm beyond which the sample poses will be considered ; multiple localizations after resampling. PeakStdTh 1 ; minimum 0, Extent of the angle in degs beyond which ; the sample poses will be considered multiple ; localizations after resampling. PeakFactor 1e-06 ; range [0, 1], When a no of samples have non zero ; probabilities such as when there is ambiguities in a ; corridor. This is the threshold below the maximum ; probablity to be considered a valid hypothesis. StdX 400 ; minimum 0, The standard deviation of the gaussian ; ellipse in X axis in mm at start of localization. StdY 400 ; minimum 0, The standard deviation of the gaussian ; ellipse in Y axis in mm at start of localization. StdTh 30 ; minimum 0, The standard deviation of the gaussian ; angle in degs at start of localization. SensorBelief 0.9 ; range [0, 1], Probablility that a range reading ; from the laser is valid. This is used in the ; correction of the probablities of the samples using ; the sensor. OccThreshold 0.1 ; range [0, 1], The threshold value of the occupancy ; grid to consider as occupied. AngleIncrement 0 ; range [0, 180], Only the laser readings which are ; this many degrees apart are used for the ; localization. The lower limit is decided by the ; LaserIncrement setting DiscardThreshold 0.33 ; range [0.33, 1], A robot sample pose lying inside ; an occupancy grid cell with a value above this will ; be usually discarded Useful in cases where robot may ; intersect map points such as during patrolbot ; docking ScoreToVarFactor 0 ; minimum 0, When MCL based localization is combined ; with other localizations using the variance and ; mean. The variance of the pose in the MCL is ; increased by the exp(1/pow(score, ScoreToVarFactor) TransitionFromIdleNumSamples 100 ; minumum 1, When localization is renabled ; after it was idle, the laser localization has to ; initialize at the new robot pose. This is the number ; of samples it will use in that case. TransitionFromIdleXStd 100 ; minimum 0, When localization is renabled after it ; was idle, the laser localization has to initialize ; at the new robot pose. This is the spread of the ; samples in the X coordinates. TransitionFromIdleYStd 100 ; minimum 0, When localization is renabled after it ; was idle, the laser localization has to initialize ; at the new robot pose. This is the spread of the ; samples in the Y coordinates. TransitionFromIdleTStd 1 ; minimum 0, When localization is renabled after it ; was idle, the laser localization has to initialize ; at the new robot pose. This is the spread of the ; samples in the T coordinates. EnableReflectorLocalization false ; ARNL uses a Kalman filter which allows you ; to combine the data from the MCL localization, the ; movement from the encoder between cycles and ; reflectors if mapped and seen by the laser. This ; advanced feature can be disabled to revert to the ; basic MCL localization, using this flag ReflectorVariance 100000 ; minimum 0, This number will be used as the variance ; of the (x, y) coords of the center of the reflectors ; in the R matrix of the Kalman filter. ReflectorMatchDist 2000 ; minimum 0, When finding the closest reflector in ; the map to an observed reflection, this is the ; maximum distance the system will search to find the ; closest reflector. ReflectorMatchAngle 5 ; minimum 0, When finding the closest reflector in ; the map to an observed reflection, this is the ; maximum angle about which the system will search to ; find the closest reflector. ReflectorMaxRange 32000 ; minimum 0, This is the maximum distance that the ; SICK lrf is capable of seeing a reflector. (This is ; smaller than the max range of the regular SICK ; readings) ReflectorMaxAngle 45 ; minimum 0, This is the maximum angle of incidence ; that the SICK lrf is capable of seeing a reflector ; at. (This is much smaller than the angle that the ; regular SICK readings are capable of returning) ReflectorSize 300 ; minimum 0, When clustering the reflector points in ; the laser return, all reflector points inside this ; range will be classed as belonging to one reflector. ReflectorAngleVarLimit 0 ; minimum 0, The (2, 2) element in the kalman filter ; P for the reflector localization seems to be too ; small. This may swamp out the angle information from ; the other localizations. Till a solution is found ; this is artificial lower limit imposed on the (2, 2) ; element. BadReflectorFactor 1000 ; minimum 1, When reflectors are far away, they are ; sensed as lone points. Such points sometimes flicker ; between edges if they are just around a corner. This ; can mess up localization. So the variance on x and y ; for this measurement will be increased by this ; factor in such cases. EnableTriangulation true ; When possible the kalman cycle will resort to ; triangulation when multiple reflectors are seen. ; This flag can be used to enable or disable it. ReflectorTriDistLimit 500 ; minimum 0, When possible the kalman cycle will ; resort to triangulation when multiple reflectors are ; seen and triangulation is enabled. The resulting ; pose will be allowed if the standard deviation in ; the XY coords is less this limit ReflectorTriAngLimit 5 ; minimum 0, When possible the kalman cycle will ; resort to triangulation when multiple reflectors are ; seen and triangulation is enabled. The resulting ; pose will be allowed if the standard deviation in ; the angle coord is less this limit ReflectanceThreshold 31 ; range [0, 255], The SICK laser is capable of ; sensing the reflectance of the points it ranges. ; When reflectors are used for localization by ; triangulation or otherwise, it is imperative that ; the reflections the SICK sees is the one coming from ; a known reflector and not from other shiny objects ; in the map. To exclude these extraneous reflections ; all reflectances below this threshold are discarded. ; The reflectors made by SICK that MobileRobots use ; for localization usually return a value greater than ; 31 when 3 reflector bits are used. Change this value ; accordingly when smaller no of rbits are used. QTra 100000 ; minimum 0, The variance of X and Y coords in the ; kalman filter's plant model. (mm^2) QRot 100 ; minimum 0, The variance of Theta coords in the ; kalman filter's plant model. (deg^2) QTraVel 1 ; minimum 0, The variance of X and Y velocity in the ; kalman filter's plant model. (mm/sec)^2 QRotVel 1 ; minimum 0, The variance of rot velocity in the ; kalman filter's plant model. (deg/sec)^2 QTraAcc 1 ; minimum 0, The variance of X and Y acceleration in ; the kalman filter's plant model. (mm/sec/sec)^2 QRotAcc 1 ; minimum 0, The variance of rot acceleration in the ; kalman filter's plant model. (deg/sec/sec)^2 XYLimit 1000 ; minimum 0, Three times this limit will be the ; maximum innovation allowed in the XY coords during ; sensor update. If the innovation exceeds this it ; will be considered an outlier and the sensor reading ; will be ignored.(mm) ThLimit 400 ; minimum 0, Three times this limit will be the ; maximum innovation allowed in the theta coords ; during sensor update. If the innovation exceeds this ; it will be considered an outlier and the sensor ; reading will be ignored.(degs) UseAllK true ; The gain matrix K of the Kalman is sensitive to the ; values of Q and R especially about the elements ; related to the angle. In some cases, it might be ; easier to blank out all innovations related to the ; angle from all measurements. This is the flag to use ; in that case. LogFlag false ; Write internal debugging data into file named ; laserLocaLog.txt AdjustNumSamplesFlag false ; The number of samples is by default kept high to ; keep the robot from losing localization even after ; initialization. This number can be lowered during ; motion in places of the map where the localization ; score is high to reduce the computation load. Set ; this flag to true if you want to vary the number of ; samples with the localization score. (As the score ; drops the no of samples will rise) MinNumSamples 200 ; minumum 0, When the AdjustSamplesFlag is set to ; true the number of samples is reduced as the ; localization score rises. But, this will be the ; lowest number it will be reduced to. NumSamplesAngleFactor 1 ; minimum 0, When the AdjustSamplesFlag is set to ; true the number of samples is reduced as the ; localization score rises. But, when the robot has ; rotated significantly, it needs more samples than if ; it had only moved in translation. A bigger angle ; factor will cause the no of samples to not drop as ; fast when the localization is triggered due to ; rotation. Section Sonar Localization settings ;SectionFlags for Sonar Localization settings: ; MCL Sonar Localization parameters NumSamples 2000 ; minumum 1, No of pose samples for MCL. The larger ; this number, the more computation will localization ; take. Too low a number will cause the robot to lose ; localization. This is also the maximum no of samples ; which will be used for localization if no of samples ; are varied along with the localization score. NumSamplesAtInit 10000 ; minumum 0, No of pose samples for MCL when ; initializing the robot in the map. Since this is ; presumably done when the robot is at rest, it can be ; larger than NumSamples and use more computation for ; more accuracy. (A value of 0 will make it equal to ; NumSamples). AdjustNumSamplesFlag false ; The number of samples is by default kept high to ; keep the robot from losing localization even after ; initialization. This number can be lowered during ; motion in places of the map where the localization ; score is high to reduce the computation load. Set ; this flag to true if you want to vary the number of ; samples with the localization score. (As the score ; drops the no of samples will rise) PassThreshold 0.1 ; range [0, 1], After MCL sensor correction, the ; sample with the maximum probablity will have a score ; based on the closeness between sensor and the map ; lines. This is the minimum score out of 1.0 to be ; considered localized. This number is related to the ; sum of probabilities of the sensor readings matching ; the distance to the closest line in the map. PeturbX 10 ; minimum 0, After sensor correction and resampling ; the chosen pose is perturbed to generate a new ; sample. This parameter decides the range to peturb ; the X axis in mm. PeturbY 10 ; minimum 0, After sensor correction and resampling ; the chosen pose is perturbed to generate a new ; sample. This parameter decides the range to peturb ; the Y axis in mm. PeturbTh 1 ; minimum 0, After sensor correction and resampling ; the chosen pose is perturbed to generate a new ; sample. This parameter decides the range to peturb ; the angle in degs. FailedX 300 ; minimum 0, Range of the box in the X axis in mm to ; distribute samples after localization fails. FailedY 300 ; minimum 0, Range of the box in the Y axis in mm to ; distribute samples after localization fails. FailedTh 45 ; minimum 0, Range of the angle in degs to distribute ; samples after localization fails. RecoverOnFail false ; If localization fails, this flag will decide if a ; static localization is attempted around last known ; robot pose. Such a reinitialization can cause the ; robot to be hopelessly lost if the actual robot is ; very different from its known pose PeakStdX 100 ; minimum 0, Extent of the ellipse in the X axis in ; mm beyond which the sample poses will be considered ; multiple localizations after resampling. PeakStdY 100 ; minimum 0, Extent of the ellipse in the X axis in ; mm beyond which the sample poses will be considered ; multiple localizations after resampling. PeakStdTh 2 ; minimum 0, Extent of the angle in degs beyond which ; the sample poses will be considered multiple ; localizations after resampling. PeakFactor 0.9 ; range [0, 1], When a no of samples have non zero ; probabilities such as when there is ambiguities in a ; corridor. This is the threshold below the maximum ; probablity to be considered a valid hypothesis. ; Stationary error settings StdX 400 ; minimum 0, The standard deviation of the gaussian ; ellipse in X axis in mm at start of localization. StdY 400 ; minimum 0, The standard deviation of the gaussian ; ellipse in Y axis in mm at start of localization. StdTh 30 ; minimum 0, The standard deviation of the gaussian ; angle in degs at start of localization. ; Motion error coefficients settings KMmPerMm 0.05 ; minimum 0, When the robot moves linearly, the error ; in distance is proportional to the distance moved. ; This error is is given as a fraction in mm per mm KDegPerDeg 0.05 ; minimum 0, When the robot rotates, the error in the ; angle is proportional to the angle turned. This is ; expressed as a fraction in degs per deg. KDegPerMm 0.0025 ; minimum 0, When the robot moves linearly it can ; also affect its orientation. This drift can be ; expressed as a fraction in degs per mm. TriggerDistance 200 ; minimum 0, Since MCL localization is ; computationally expensive, it is triggered only when ; the robot has moved this far in mm. TriggerAngle 5 ; minimum 0, Since MCL localization is ; computationally expensive, it is triggered only when ; the robot has rotated this far in degs. TriggerTimeEnabled false ; This flag will decide if the localization will be ; called every 'TriggerTime' msecs. Once this flag is ; true the IdleTimeTrigger* parameters will take ; effect. This feature is meant to take care of cases ; when the robot has not moved much for a time and the ; position should be refined . TriggerTime 10000 ; minimum 1500, Once the TriggerTimeFlag is set to ; true this parameter will decide how long the robot ; has been idle in milli seconds before it starts a ; localization near the last known robot pose. IdleTimeTriggerX 200 ; minimum 0, When localization is triggered by idle ; time this parameter decides the range of the samples ; in X coords in mm. IdleTimeTriggerY 200 ; minimum 0, When localization is triggered by idle ; time this parameter decides the range of the samples ; in Y coords in mm. IdleTimeTriggerTh 15 ; minimum 0, When localization is triggered by idle ; time this parameter decides the range of the samples ; in Theta coords in degs. ; Range sensor (laser) settings SonarMaxRange 2000 ; minimum 1000, Maximum range of the sonar sensors in ; mm. SonarAperture 30 ; range [0, 180], Aperture of the sonar sensors in ; degs. SonarRangeRes 100 ; minimum 10, Range resolution of the probability ; table in mm. SonarAngleRes 1 ; minimum 1, Angle resolution of the probability ; table in degs. SonarIncidenceLimit 15 ; minimum 0, Angle of incidence with an obstacle ; surface at which sonar reflection becomes specular ; in degs. SonarLambdaF 2e-05 ; minimum 0, Probablity of false readings in ; times/mm. SonarLambdaR 5e-05 ; minimum 0, Probablity of reflection of readings in ; times/mm. SonarSigma 30 ; minimum 0, Standard deviation of sonar range in mm. SonarBetaMin 0.8 ; minimum 0, Attenuation factor at min reading. SonarBetaMax 0.6 ; minimum 0, Attenuation factor at max reading. SonarMinLineSize 100 ; minimum 0, Min size of lines in the map which will ; beused for localization. MinNumSamples 200 ; minumum 0, When the AdjustSamplesFlag is set to ; true the number of samples is reduced as the ; localization score rises. But, this will be the ; lowest number it will be reduced to. NumSamplesAngleFactor 1 ; minimum 0, When the AdjustSamplesFlag is set to ; true the number of samples is reduced as the ; localization score rises. But, when the robot has ; rotated significantly, it needs more samples than if ; it had only moved in translation. A bigger angle ; factor will cause the no of samples to not drop as ; fast when the localization is triggered due to ; rotation. Section GPS Localization settings ;SectionFlags for GPS Localization settings: InitFactor 1 ; minumum 1, Factor by which the 5 secs of GPS is ; increased for averaging before setting it as ; reference. RTKError 200 ; minimum 0, The value for the user equivalent range ; errors for the Omnistar after getting a 3d fix. This ; value is used to compute the std dev of the GPS ; readings. (mm) FRTKError 400 ; minimum 0, The value for the user equivalent range ; errors for the Omnistar while floating before ; getting a 3d fix. This value is used to compute the ; std dev of the GPS readings. (mm) DGPSError 800 ; minimum 0, The value for the user equivalent range ; errors when omnistar is lost but DGPS is available. ; This value is used to compute the std dev of the GPS ; readings. (mm) GPSError 1600 ; minimum 0, The value for the user equivalent range ; errors when omnistar is lost but basic GPS is ; available. This value is used to compute the std dev ; of the GPS readings. (mm) BadGPSFactor 1 ; minimum 1, Aria maps can have areas in which GPS is ; known to be unreliable be marked using sectors. If ; the robot enters such a sector the std dev of the ; GPS pose will be increased by this factor. UseFirstAngleFix false ; Flag which when set lets the robot to set the ; heading to AngleFixOffset in East-North coordinates. ; If set to false the heading set by the user will be ; substituted. AngleFixOffset 0 ; When aligning the robot with a known map the first ; fix can be visually aligned with known mapped ; objects such as walls. This fine adjustment of the ; orientation is better handled through such an offset ; instead of from the drag clicking of the mouse. ; (degs) StdX 400 ; minimum 0, The standard deviation of the gaussian ; ellipse in X axis in mm at start of localization. StdY 400 ; minimum 0, The standard deviation of the gaussian ; ellipse in Y axis in mm at start of localization. StdTh 30 ; minimum 0, The standard deviation of the gaussian ; angle in degs at start of localization. DriveForHeadingIncrement 1000 ; Minimum distance between the points stored ; during the drive for heading mode for the point to ; be stored. DriveForHeadingMaxPoints 100 ; minumum 2, Maximum no of points stored during ; the drive for heading mode. The limit is in case the ; user begins the mode and forgets to end it. KMMPerMMLin 0.01 ; minimum 0, When the robot moves forward, the error ; in distance is proportional to the distance moved. ; This error is specified as a fraction in mm per mm KMMPerMMLat 0.01 ; minimum 0, When the robot moves sideways, the error ; in distance is proportional to the distance moved. ; This error is specified as a fraction in mm per mm KDegPerDeg 0.0005 ; minimum 0, When the robot rotates, its orientation ; error is in proportion to the angle moved. This ; error is is specified as a fraction in degs per deg KDegPerMMLin 0.001 ; minimum 0, When the robot moves forward, its ; orientation error is in proportion to the distance ; moved. This error is specified as a fraction in degs ; per mm KDegPerMMLat 0.001 ; minimum 0, When the robot moves sideways, its ; orientation error is in proportion to the distance ; moved. This error is specified as a fraction in degs ; per mm LostThreshold 1000 ; minimum 0, If the robot pose computed by the kalman ; filter has its position uncertainity greater than ; this distance, the robot will be considered lost as ; far as GPS localization is concerned. mm DistanceThreshold 0 ; The robot pose computed by the kalman filter will be ; used to reset the robot pose using moveTo() when the ; two diverge by more than this distance. If the ; threshold is negative the robot pose will not be ; corrected by the kalman pose. RLinVel 1000 ; minimum 0, The variance of the robot's linear ; velocity as reported by the odometry, which is ; needed for the kalman filter. (mm/sec)^2 RLatVel 1000 ; minimum 0, The variance of the robots lateral ; velocity as reported by the odometry, which is ; needed for the kalman filter. (mm/sec)^2 RRotVel 40 ; minimum 0, The variance of the robots rotational ; velocity as reported by the odometry, which is ; needed for the kalman filter. (degs/sec)^2 QTra 100000 ; minimum 0, The variance of X and Y coords in the ; kalman filter's plant model. (mm^2) QRot 1 ; minimum 0, The variance of Theta coords in the ; kalman filter's plant model. (deg^2) QTraVel 1 ; minimum 0, The variance of X and Y velocity in the ; kalman filter's plant model. (mm/sec)^2 QRotVel 1 ; minimum 0, The variance of rot velocity in the ; kalman filter's plant model. (deg/sec)^2 QTraAcc 1 ; minimum 0, The variance of X and Y acceleration in ; the kalman filter's plant model. (mm/sec/sec)^2 QRotAcc 1 ; minimum 0, The variance of rot acceleration in the ; kalman filter's plant model. (deg/sec/sec)^2 QZeroSpeedFactor 1e+10 ; minimum 1, The factor by which the Qs will be ; divided by when the robot is still. Odometry to be ; trusted more than GPS when still. XYLimit 1000 ; minimum 0, Three times this limit will be the ; maximum innovation allowed in the XY coords during ; sensor update. If the innovation exceeds this it ; will be considered an outlier and the sensor reading ; will be ignored.(mm) ThLimit 40 ; minimum 0, Three times this limit will be the ; maximum innovation allowed in the theta coords ; during sensor update. If the innovation exceeds this ; it will be considered an outlier and the sensor ; reading will be ignored.(degs) UseGPSHeading true ; Since the magnetic compass is rendered useless by ; SEEKUR's extremly powerful motors, the alternative ; is to compute the heading from GPS lines. This is ; the flag that decides whether to use this technique ; or not. GPSHeadingDist 100 ; minimum 0, GPS heading is to computed as the ; heading between two GPS reads. This is the min ; distance the GPS points must be separated between ; GPS reads to make such a line. The robot odometry ; must also have moved at least this distance for the ; line to be valid (mm) Typically this should be set ; to just above the max vel times the time between two ; GPS readings. GPSHeadingLinVel 200 ; minimum 0, This is the min linear speed the vehicle ; must be going between GPS reads to be useful for GPS ; heading computation. (mm/sec) GPSHeadingLatVel 10 ; minimum 0, This is the max lateral speed the ; vehicle can be going between GPS reads to be useful ; for GPS heading computation. (mm/sec) GPSHeadingRotVel 5 ; minimum 0, This is the max rotational speed the ; vehicle must be going between GPS reads to be useful ; for GPS heading computation. (deg/sec) GPSHeadingDOP 4 ; minimum 0, This is the max Horizontal dilution of ; precision of the GPS reads to be useful for GPS ; heading computation. GPSHeadingTurn 5 ; minimum 0, This is the max angle the robot can turn ; between the GPS reads to be useful for GPS heading ; computation. GPSHeadingError 10 ; minimum 0, The std dev of the GPS heading error. ; The compass is currently not being used for ; navigation. Instead the GPS points are used to ; compute the heading when the vehicle is going ; straight ahead. (degs) UseAllK false ; The gain matrix K of the Kalman is sensitive to the ; values of Q and R especially about the elements ; related to the angle. In some cases, it might be ; easier to blank out all innovations related to the ; angle from all measurements except the compass, such ; as the GPS measurements. This is the flag to use in ; that case. StateSize 6 ; range [6, 9], The Kalman filter state can be ; configured to be position, velocity (PV) or position ; velocity and accceleration (PVA) The former is 6 ; elements and the latter 9. The user can choose ; depending on the anticipated dynamics and accuracy ; of the sensor data DisplaySize 250 ; minumum 0, The number of points shown in the trail ; of odometry, GPS and Kalman poses for debugging ; purposes. Setting this to 0 will remove the ; computation associated with this and probably useful ; for saving computer cycles. LogFlag false ; Flag to write data into file Section Path planning settings ;SectionFlags for Path planning settings: MaxSpeed 750 ; minimum 0, Maximum speed during path following in ; mm/sec. MaxRotSpeed 100 ; minimum 0, Maximum rotational speed in degs/sec PlanRes 106.25 ; minimum 0, The resolution of the grid used for path ; planning in mm. It is best to use an integral ; fraction of the robot half width to allow for more ; free space in tight spaces. PlanFreeSpace 637.5 ; minimum 0, Preferred distance from side of robot to ; obstacles. The path planner marks each grid cell ; depending on its distance to the nearest obstacle. ; Any cell within half the robot width of an occupied ; cell will still be non traversable by the robot.The ; cell at half robot width will be traversable but ; will have the maximum cost. The cost of the cells ; beyond half width will progressively decrease. The ; PlanFreeSpace is the distance from the side of the ; robot beyond which the cell cost stops decreasing ; and remains constant. Larger values will cause ; larger excursions around obstacles, (This variable ; is related to the FreeSpacing variable in previous ; versions of ARNL which was measured from the center ; of the robot.) CollisionRange 2000 ; minimum 0, The distance from the robot within which ; the obstacles seen by the sensor and those on the ; map are used to compute the local path. (User should ; keep this above (maxlvel*maxlvel)/2/goalDecel to ; allow for smoother motion when encountering unmapped ; obstacles) UseCollisionRangeForPlanning false ; The robot plans ahead locally for a ; distance based on its speed. This may not be ; sufficient in some cases where the user may want it ; to look ahead till the CollisionRange of the ; sensors. This flag will enable the user to force the ; robot to look at least as far as the distance the ; sensors data is incorporated. ClearOnFail true ; If this flag is true, any failure in the local path ; planning will force the cumulative range buffers to ; be cleared FrontClearance 100 ; minimum 0, Front clearance in mm of the robot while ; avoiding obstacles. SlowSpeed 100 ; minimum 0, Speed below and at which is considered ; slow. SideClearanceAtSlowSpeed 100 ; minimum 0, Side clearance in mm of the robot ; while avoiding obstacles when it is moving at or ; below the slow speed. FrontPaddingAtSlowSpeed 100 ; minimum 0, Distance in addition to the front ; clearance of the robot while avoiding obstacles when ; it is moving at or below the slow speed. In this ; padding the super max translation deceleration will ; be allowed to engage to keep the obstacle away ; before slamming on eStop. FastSpeed 2000 ; minimum 0, Speed at or above which is considered ; fast. SideClearanceAtFastSpeed 1000 ; minimum 0, Side clearance in mm of the robot ; while avoiding obstacles when it is moving at or ; above the fast speed. FrontPaddingAtFastSpeed 1000 ; minimum 0, Distance in addition to the front ; clearance of the robot while avoiding obstacles when ; it is moving at or above the fast speed. In this ; padding the super max translation deceleration will ; be allowed to engage to keep the obstacle away ; before slamming on eStop. SuperMaxTransDecel 1000 ; minimum 0, The maximum translational deceleration ; allowed for avoiding obstacles. This is used in ; conjunction with the padding parameters to limit the ; wear and tear if emergency deceleration is ; unlimited. EmergencyMaxTransDecel 0 ; minimum 0, The emergency translational deceleration ; allowed for avoiding obstacles. This is used in ; conjunction with the padding parameters to limit the ; maximum deceleration allowed even if there is a ; chance for collision. (A zero will make it use the ; computed deceleration or SuperMaxTransDecel however ; large it happens to be) UseEStop false ; If this flag is true, any obstacle in the path which ; cannot be avoided by regular robot deceleration will ; cause the software emergency stop to be engaged ; which will result in an almost instantaneous stop. ; (May not be suitable for platforms like the ; wheelchair) UseLaser true ; Use the laser for collision avoidance? UseSonar true ; Use the sonar for collision avoidance? Due to the ; sonar inaccuracies the obstacles may appear larger. ; This flag can be used to set the sonar off when the ; robot has to navigate through narrow openings such ; as doors. SecsToFail 8 ; minumum 0, The time in seconds for which local ; search will continue trying to plan when it fails to ; find a safe local path to move. LocalPathFailDistance 1000 ; minimum 0, When the sensors see that the local ; path is blocked, the robot will still be allowed to ; drive this close to the block. This is meant to help ; in cases where the robot senses false obstacles from ; afar and stops too soon such as on ramps. (The ; distance at which the robot actually stops will ; depend on the velocity of the robot) MarkOldPathFactor 0.75 ; range [0.1, 1], When the robot operates in an ; environment where there are a number of unmapped ; obstacles, the local path it plans may flip from one ; side of the obstacle to the other between cycles. To ; avoid this, ARNL marks the old path by reducing the ; costs of its cells by this factor. This factor ; should be a non zero value between 0.1 and 1 GoalDistanceTol 200 ; minimum 0, Distance in mm to the goal that will be ; considered as reached. GoalAngleTol 10 ; minimum 0, Angle in degs to the goal orientation ; that will be as done with orientation. GoalOccupiedFailDistance 1000 ; minimum 100, When the sensors see that the ; goal is occupied the robot will still be allowed to ; drive this close to the goal anyway. GoalSpeed 250 ; minimum 0, Maximum speed at which end move to goal ; is executed. This value and the robot's inertia will ; decide the goal positioning accuracy. (A value of 0 ; will keep the normal driving value) GoalRotSpeed 33 ; minimum 0, Maximum rotational velocity at which end ; move to goal is executed. This value and the robot's ; inertia will decide the goal positioning accuracy. ; (A value of 0 will keep the normal driving value) GoalTransAccel 200 ; minimum 0, Maximum linear acceleration at which end ; move to goal is executed. (A value of 0 will keep ; the normal driving value) GoalTransDecel 200 ; minimum 0, Maximum linear deceleration at which end ; move to goal is executed. (A value of 0 will keep ; the normal driving value) GoalRotAccel 33 ; minimum 0, Maximum rotational acceleration at which ; end move to goal is executed. (A value of 0 will ; keep the normal driving value) GoalRotDecel 33 ; minimum 0, Maximum rotational deceleration at which ; end move to goal is executed. (A value of 0 will ; keep the normal driving value) GoalSwitchTime 0.4 ; minimum 0, Time in secs to switch into end move ; mode in addition to the coasting time. (To allow for ; slack in the ramping down of the velocity to zero) GoalUseEncoder true ; For fine positioning at goal, the robot can switch ; to moving based on its encoder pose only. This flag ; decides this AlignAngle 30 ; minimum 0, When the robot is stopped this is the ; minimum angle it will rotate in place to align to ; the planned path before it will move linearly. AlignSpeed 10 ; minimum 0, This is the velocity below which the ; robot will do the aligning to path direction before ; linear motion. HeadingRotSpeed 50 ; minimum 0, There will be some points on the path ; where the robot will be exclusively rotating to ; reach a heading. The user may wish to set the ; rotational speed in this situation to lower than ; normal especially when dealing with heavier robots ; like the Powerbot. (A value of 0 will keep the ; normal driving value) (This will not override the ; GoalRotSpeed) HeadingRotAccel 50 ; minimum 0, There will be some points on the path ; where the robot will be exclusively rotating to ; reach a heading. The user may wish to set the ; rotational accel in this situation to lower than ; normal especially when dealing with heavier robots ; like the Powerbot. (A value of 0 will keep the ; normal driving value) (This will not override the ; GoalRotAccel) HeadingRotDecel 50 ; minimum 0, There will be some points on the path ; where the robot will be exclusively rotating to ; reach a heading. The user may wish to set the ; rotational decel in this situation to lower than ; normal especially when dealing with heavier robots ; like the Powerbot. (A value of 0 will keep the ; normal driving value) (This will not override the ; GoalRotDecel) HeadingWt 0.8 ; range [0, 1], Heading weight for DWA. Unlike the ; heading objective computed from a destination pose ; on the path, as in the conventional DWA, we use a ; path matching function to match the arc made from ; the velocities with the desired computed path. DistanceWt 0.1 ; range [0, 1], Distance weight for DWA. Distance ; refers to the distance to collision if any if the ; robot continues on the path computed from the ; velocities. VelocityWt 0.1 ; range [0, 1], Velocity weight for DWA. Velocity ; refers to the linear velocity only. SmoothingWt 0 ; range [0, 1], Smoothing weight for DWA. This is the ; weight given to smoother paths. The smoothing ; objective minimizes the changes in the linear and ; rotational velocities from this cycle from the ; velocities used in the previous cycle. This is ; probably useful only when smoothness not speed is ; more important. Set this to 0.1 or so for smoothly ; traversing narrow passages such as doors. NforLinVelIncrements 1 ; minumum 0, If N is the value of this parameter, the ; no of linear velocity increments of the search table ; is 2*N+1 for the DWA. NforRotVelIncrements 8 ; minumum 0, If N is the value of this parameter, the ; no of rotational velocity increments of the search ; table is 2*N+1 for the DWA. SmoothWindow 2 ; minumum 0, Smoothing window size for DWA ObsThreshold 0.2 ; range [0, 1], The threshold value of the occupancy ; grid to consider as occupied for path planning. MatchLengths 2 ; minimum 0, The DWA path matching distance is ; computed as a multiple of the robot lengths. This ; parameter decides the multiplier for this purpose. ; Shorter path lengths may be appropriate for driving ; through narrow openings such as doors at low speeds. CheckInsideRadius true ; If this flag is false, then the robot path tracking ; module will ignore any objects it sees inside its ; radius and still keep moving to its local goal ; point. This may be useful in case the user wants to ; reproduce such behavior in older versions of ARNL. SplineDegree 3 ; minumum 1, Degree of the B-Splines used to smooth ; local path. NumSplinePoints 5 ; minumum 1, The number of points that will be used ; to subdivide the look ahead in the local path which ; will then serve as the knots for the spline to form ; over. CenterAwayCost 1 ; Added cost of being away from the central spine of ; the one way areas. A zero would cause it to not ; consider centering in one way areas at all. Resistance 2 ; range [1, 32767], Multiplied cost of traversing a ; cell in restrictive areas and lines. The normal cost ; for regular non-restrictive cell is 1, so set this ; value to 1 to turn off restrictive behavior. LogFlag false ; Flag to write data into file LogLevel 0 ; minumum 0, Level of detail in the log data StallRecoverSpeed 150 ; minimum 1, Speed at which to back away when ; stalled. StallRecoverDuration 50 ; minumum 1, Cycles of operation to move when ; recovering from stall. StallRecoverRotation 45 ; minimum 1, Amount of rotation when recovering ; (degrees). DrivingTransVelMax 0 ; minimum 0, Maximum forward translational velocity ; (0 means use default) DrivingTransNegVelMax 0 ; minimum 0, Maximum backwards translational velocity ; (0 means use default) DrivingTransAccel 0 ; minimum 0, Translational acceleration (0 means use ; default) DrivingTransDecel 0 ; minimum 0, Translational deceleration (0 means use ; default) DrivingRotVelMax 0 ; minimum 0, Maximum rotational velocity (0 means use ; default) DrivingRotAccel 0 ; minimum 0, Rotational acceleration (0 means use ; default) DrivingRotDecel 0 ; minimum 0, Rotational deceleration (0 means use ; default)