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Tuning guide #204

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8 of 21 tasks
SteveMacenski opened this issue Aug 25, 2021 · 2 comments
Open
8 of 21 tasks

Tuning guide #204

SteveMacenski opened this issue Aug 25, 2021 · 2 comments

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@SteveMacenski
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SteveMacenski commented Aug 25, 2021 •
edited

  • Kinematic parameters for behaviors, controllers, etc
  • Costmap plugin selection
  • recovery speeds / sim times
  • global localization leading the clock so TF always valid subtle item. TF tolerance tuning. why use TF over odom/pose topics (interpolating, current, etc).
  • RPP tuning
  • Goal checkers
  • Progress checkers
  • RL covariances in sensor and process (Tom?)
  • smoother selection
  • using dynamic parameters + gui to tune (tutorial?) (doisyg?)
  • Costmap 2D (local size + speed, update rate, downsampling sensors, resolution, unknown space/inflate, obstacle/voxel params, etc)
  • AMCL / weights (Fergs?)
  • DWB (critics, generator, plugin, weights) (David?)
  • Common critical performance mistakes (no static layer in local costmap for mislocalization/updates, not calibrating/tuning/filtering noisy sensors like depth cameras, tuning your low-level controller response on the platform to be good and not lag, etc)
  • Caching obstacle heuristic (Smac Hybrid-A*, State Lattice)
  • Controller selection
  • Planner selection
  • launch options (composition, headless, etc)
  • Rotate in Place Behavior
  • Robot Footprint vs Radius
  • Inflation Potential Fields
  • ... anything you think would be insightful!
@SteveMacenski
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#246

@KSorte
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KSorte commented Sep 22, 2023

A guide for velocity smoother and smoother servers would be a nice addition I think @SteveMacenski. Thanks!

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@SteveMacenski @KSorte