P4 - Identify and Document Tunable Navigation Parameters

[erickmu1]

Description:

• To perform a more in-depth tuning of the Navigation Stack and RTAB Map, we need to research which parameters are available and what they do
• Want to have an idea of how we will proceed to tune these packages

Goals:

• Identify tunable parameters in the Navigation Stack
• Identify tunable parameters in RTAB Map

Acceptance Criteria:

• Wiki identifying and explaining what parameters to tune for the Navigation Stack
• Wiki identifying and explaining what parameters to tune for RTAB Map

Notes:

• Questions to consider:
  • What is the parameter?
  • How does it affect navigation?
  • How can we determine a good value for it?
  • Difficulty in tuning?

[erickmu1]

The section Understanding the Navigation Stack in our Wiki highlights the main components (ROS API) that pertain to the navigation stack. This should provide an overview on what the main components we can play around with are as well as their general functionality.

[1999michael]

Notes for documentation
Navigation Tolerance Tuning
Location: nav/nav_stack/config/base_local_planner_params.yaml

• xy_goal_tolerance
• yaw_goal_tolerance

[lukewarmtemp]

global_costmap_params.yaml: Tune width and height of the global cost map
local_costmap_params.yaml: Tune width and height of the local cost map