111 lines
2.9 KiB
YAML
111 lines
2.9 KiB
YAML
# UGV Configuration - GPS-Denied Navigation
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/**:
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ros__parameters:
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# Vehicle physical parameters
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vehicle:
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wheelbase: 0.3 # meters
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track_width: 0.25 # meters
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wheel_radius: 0.05 # meters
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max_speed: 1.0 # m/s
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max_turn_rate: 1.5 # rad/s
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# Vision parameters for navigation
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vision:
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# Forward camera (for visual odometry and obstacle detection)
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forward_camera:
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enabled: true
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topic: "/ugv/camera/forward/image_raw"
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info_topic: "/ugv/camera/forward/camera_info"
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frame_rate: 30
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fov_horizontal: 90 # degrees
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fov_vertical: 60 # degrees
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# Visual odometry settings
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visual_odometry:
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enabled: true
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method: "ORB" # Options: ORB, SIFT
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min_features: 150
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max_features: 600
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feature_quality: 0.02
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min_distance: 8
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# Wheel odometry (primary odometry for ground vehicle)
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wheel_odometry:
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enabled: true
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topic: "/ugv/odom"
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covariance_scale: 0.05
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# Obstacle detection
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obstacle_detection:
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enabled: true
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method: "depth_camera" # or "stereo"
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min_distance: 0.3 # meters
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max_distance: 10.0 # meters
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# Position estimation (sensor fusion)
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position_estimator:
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fusion_method: "EKF"
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# Sensor weights (trust levels)
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weights:
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visual_odometry: 0.3
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wheel_odometry: 0.5
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imu: 0.2
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# Update rates
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update_rate: 50 # Hz
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# Covariance matrices
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process_noise:
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position: 0.05
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velocity: 0.2
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heading: 0.1
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measurement_noise:
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visual_odom: 0.08
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wheel_odom: 0.03
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imu: 0.15
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# Navigation parameters (RELATIVE coordinates only)
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navigation:
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frame: "LOCAL_NED" # Never use GPS frame
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# Control parameters
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max_linear_velocity: 1.0 # m/s
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max_angular_velocity: 1.5 # rad/s
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linear_acceleration: 0.5 # m/s^2
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angular_acceleration: 1.0 # rad/s^2
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# Path following
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lookahead_distance: 0.5 # meters
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waypoint_radius: 0.3 # meters
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# Obstacle avoidance
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obstacle_avoidance:
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enabled: true
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detection_range: 3.0 # meters
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safety_margin: 0.5 # meters
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avoidance_method: "VFH" # Vector Field Histogram
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# Mission parameters
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mission:
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default_speed: 0.5 # m/s
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turn_in_place_threshold: 0.5 # radians
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# Home position is LOCAL (0,0,0), not GPS
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home_mode: "local"
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# Safety
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safety:
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geofence:
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enabled: true
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use_gps: true # ONLY for geofence
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action_on_breach: "STOP"
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failsafe:
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vision_loss_timeout: 3.0 # seconds
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action_on_vision_loss: "STOP"
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collision_distance: 0.2 # meters
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action_on_collision: "STOP"
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