From df9d54b3f37957e0d925e4c5174ec77dcbea4aa3 Mon Sep 17 00:00:00 2001
From: Andreea Tulbure <andreea_tulbure@yahoo.de>
Date: Mon, 7 Aug 2017 11:34:42 +0200
Subject: [PATCH 1/3] added planer for navigation.launch

---
 .../config/local_planner_eband.yaml           | 29 ++++++++++++++++++
 .../launch/2dnav_ros_eband.launch             | 21 +++++++++++++
 .../launch/2dnav_ros_eband.xml                | 30 +++++++++++++++++++
 3 files changed, 80 insertions(+)
 create mode 100644 cob_navigation_global/config/local_planner_eband.yaml
 create mode 100644 cob_navigation_global/launch/2dnav_ros_eband.launch
 create mode 100644 cob_navigation_global/launch/2dnav_ros_eband.xml

diff --git a/cob_navigation_global/config/local_planner_eband.yaml b/cob_navigation_global/config/local_planner_eband.yaml
new file mode 100644
index 00000000..8d90ceea
--- /dev/null
+++ b/cob_navigation_global/config/local_planner_eband.yaml
@@ -0,0 +1,29 @@
+max_vel_lin: 0.74
+max_vel_th: 0.5
+
+min_vel_lin: 0.0
+min_vel_th: 0.0
+
+min_in_place_vel_th: 0.0
+in_place_trans_vel: 0.0
+
+xy_goal_tolerance: 0.02
+yaw_goal_tolerance: 0.04
+tolerance_timeout: 0.5
+
+k_prop: 4.0
+k_damp: 3.5
+
+Ctrl_Rate: 15.0
+
+max_acceleration: 0.3
+virtual_mass: 0.75
+
+max_translational_acceleration: 0.3
+max_rotational_acceleration: 1.5
+
+rotation_correction_threshold: 2.0
+
+
+#Stuff from utexas which we don't need for Care-O-bot 3
+differential_drive: false
diff --git a/cob_navigation_global/launch/2dnav_ros_eband.launch b/cob_navigation_global/launch/2dnav_ros_eband.launch
new file mode 100644
index 00000000..580f9a3e
--- /dev/null
+++ b/cob_navigation_global/launch/2dnav_ros_eband.launch
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<launch>
+
+  <arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+  <arg name="robot_env" default="$(optenv ROBOT_ENV !!NO_ROBOT_ENV_SET!!)"/>
+  <arg name="map" default="$(find cob_default_env_config)/$(arg robot_env)/map.yaml" />
+
+  <!--- Run map_server -->
+  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map)"/>
+
+  <!--- Run AMCL -->
+  <include file="$(find cob_navigation_global)/launch/amcl_node.xml" >
+    <arg name="robot" value="$(arg robot)"/>
+  </include>
+
+  <!--- Run move base -->
+  <include file="$(find cob_navigation_global)/launch/2dnav_ros_eband.xml" >
+    <arg name="robot" value="$(arg robot)"/>
+  </include>
+
+</launch>
diff --git a/cob_navigation_global/launch/2dnav_ros_eband.xml b/cob_navigation_global/launch/2dnav_ros_eband.xml
new file mode 100644
index 00000000..f66bd67a
--- /dev/null
+++ b/cob_navigation_global/launch/2dnav_ros_eband.xml
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<launch>
+
+  <arg name="robot"/>
+
+  <!-- delete old parameters -->
+  <rosparam command="delete" param="/move_base"/>
+
+  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+    <remap from="cmd_vel" to="base/twist_mux/command_navigation"/>
+    <remap from="odom" to="base/odometry_controller/odometry"/>
+    <param name="controller_frequency" value="10"/>
+
+    <!-- Use the dwa local planner for the PR2 -->
+    <param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" />
+    <rosparam file="$(find cob_navigation_global)/config/local_planner_eband.yaml" command="load" ns="EBandPlannerROS"/>
+    <!--- load common configuration files -->
+    <rosparam file="$(find cob_navigation_config)/robots/$(arg robot)/nav/costmap_common_params.yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find cob_navigation_config)/robots/$(arg robot)/nav/costmap_common_params.yaml" command="load" ns="local_costmap" />
+
+    <!--- load global navigation specific parameters -->
+    <rosparam file="$(find cob_navigation_global)/config/local_costmap_params.yaml" command="load" />
+    <rosparam file="$(find cob_navigation_global)/config/global_costmap_params.yaml" command="load" />
+
+    <!--- load planner parameters -->
+    <rosparam file="$(find cob_navigation_config)/robots/$(arg robot)/nav/base_local_planner_params.yaml" command="load" />
+
+  </node>
+
+</launch>

From 3b44208081bc0f56e89db003fe42663bc4c056c8 Mon Sep 17 00:00:00 2001
From: Andreea Tulbure <andreea_tulbure@yahoo.de>
Date: Tue, 8 Aug 2017 11:01:23 +0200
Subject: [PATCH 2/3] changes in order to compile

---
 cob_map_accessibility_analysis/CMakeLists.txt | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/cob_map_accessibility_analysis/CMakeLists.txt b/cob_map_accessibility_analysis/CMakeLists.txt
index ce5fb342..cbeb7fdd 100644
--- a/cob_map_accessibility_analysis/CMakeLists.txt
+++ b/cob_map_accessibility_analysis/CMakeLists.txt
@@ -26,6 +26,9 @@ find_package(catkin REQUIRED COMPONENTS
 find_package(Boost REQUIRED)
 find_package(OpenCV REQUIRED)
 
+set(CMAKE_CXX_COMPILER "clang++")
+set(CMAKE_C_COMPILER "clang") 
+
 catkin_python_setup()
 
 add_service_files(

From 676c583eabb59c9e1003b2e6716945d2a3971c98 Mon Sep 17 00:00:00 2001
From: andreeatulbure <student@iirob.ipr.kit.edu>
Date: Fri, 15 Sep 2017 10:57:52 +0200
Subject: [PATCH 3/3] changes for better behaviour of collision_velocity_filter

---
 .../robots/raw3-5/nav/costmap_common_params.yaml                | 2 +-
 cob_navigation_global/launch/amcl_node.xml                      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/cob_navigation_config/robots/raw3-5/nav/costmap_common_params.yaml b/cob_navigation_config/robots/raw3-5/nav/costmap_common_params.yaml
index e8698598..cdd86b14 100644
--- a/cob_navigation_config/robots/raw3-5/nav/costmap_common_params.yaml
+++ b/cob_navigation_config/robots/raw3-5/nav/costmap_common_params.yaml
@@ -81,7 +81,7 @@ obstacle_layer:
 inflation_layer:
 
   # The radius in meters to which the map inflates obstacle cost values.
-  inflation_radius: 0.55 # default: 0.55
+  inflation_radius: 0.65 # default: 0.55
 
   # A scaling factor to apply to cost values during inflation.
   cost_scaling_factor: 8.01 # default: 10.0
diff --git a/cob_navigation_global/launch/amcl_node.xml b/cob_navigation_global/launch/amcl_node.xml
index 2ea3be4d..feac8ce7 100644
--- a/cob_navigation_global/launch/amcl_node.xml
+++ b/cob_navigation_global/launch/amcl_node.xml
@@ -11,7 +11,7 @@
     <param name="gui_publish_rate" value="-1.0"/>
     <param name="laser_max_beams" value="30"/>
     <param name="laser_max_range" value="29.5"/>
-    <param name="min_particles" value="100"/>
+    <param name="min_particles" value="150"/>
     <param name="max_particles" value="5000"/>
     <param name="update_min_d" value="0.2"/>
     <!--param name="update_min_a" value="1.0"/-->