Developer Guide

  • 2022.3
  • 10/25/2022
  • Public Content
Contents

ITS Path Planner Plugin Customization

The ROS 2 navigation bringup application is started using the TurtleBot* 3 Gazebo* simulation, and it receives as input parameter its_nav2_params.yaml.
Check the code snippet from
01_docker_sdk_env/docker_compose/05_tutorials/its_path_planner.tutorial.yml
:
export TURTLEBOT3_MODEL=waffle export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/eiforamr/ros2_ws/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/ ros2 launch nav2_bringup tb3_simulation_launch.py params_file:=${CONTAINER_BASE_PATH}/01_docker_sdk_env/docker_compose/05_tutorials/param/its_nav2_params.yaml
To use the ITS path planner plugin, the following parameters are added in its_nav2_params.yaml:
planner_server: ros__parameters: expected_planner_frequency: 0.01 use_sim_time: True planner_plugins: ["GridBased"] GridBased: plugin: "its_planner/ITSPlanner" interpolation_resolution: 0.05 catmull_spline: False smoothing_window: 15 buffer_size: 10 build_road_map_once: True min_samples: 250 roadmap: "PROBABLISTIC" w: 32 h: 32 n: 2

ITS Path Planner Plugin Parameters

catmull_spline:
If true, the generated path from the ITS is interpolated with the catmull spline method; otherwise, a smoothing filter is used to smooth the path.
smoothing_window:
The window size for the smoothing filter (The unit is the grid size.)
buffer_size:
During roadmap generation, the samples are generated away from obstacles. The buffer size dictates how far away from obstacles the roadmap samples should be.
build_road_map_once:
If true, the roadmap is loaded from the saved file; otherwise, a new roadmap is generated.
min_samples:
The minimum number of samples required to generate the roadmap
roadmap:
Either PROBABILISTIC or DETERMINISTIC
w:
The width of the window for intelligent sampling
h:
The height of the window for intelligent sampling
n:
The minimum number of samples that is required in an area defined by
w
and
h
You can modify these values by editing the file below, at lines 251-267:
01_docker_sdk_env/docker_compose/05_tutorials/param/its_nav2_params.yaml

Product and Performance Information

1

Performance varies by use, configuration and other factors. Learn more at www.Intel.com/PerformanceIndex.