Update documentation (#101)

* Update documentation

* Resize image

README.md

@@ -11,7 +11,7 @@ The API documentation is available at [https://amslabtech.github.io/dwa_planner/
 
 **Note: This simulator is not provided.**
 
-![demo1](docs/images/demo_dwa.gif)
+![demo 1](docs/images/dwa_planner_demo_1.gif)
 
 ## Environment
 - Ubuntu 20.04
@@ -53,14 +53,13 @@ export TURTLEBOT3_MODEL=burger
 roslaunch turtlebot3_navigation turtlebot3_navigation.launch
 export TURTLEBOT3_MODEL=burger
 roslaunch turtlebot3_gazebo turtlebot3_world.launch
-roslaunch dwa_planner local_planner.launch use_scan_as_input:=True
+roslaunch dwa_planner local_planner.launch use_scan_as_input:=True v_path_width:=0.02
 ```
-![demo3](docs/images/demo_dwa_3.gif)
+![demo 2](docs/images/dwa_planner_demo_2.gif)
 
 
 ## Node I/O
-
-![dwa_planner I/O diagram](docs/images/dwa_planner_io.png)
+![Node I/O](docs/images/dwa_planner_io.png)
 
 ### Published/Subscribed Topics
 Access [here](docs/Topics.md)

config/dwa_param.yaml

@@ -1,19 +1,26 @@
-TARGET_VELOCITY: 0.55
-PREDICT_TIME: 3.0
-OBSTACLE_COST_GAIN: 1.0
-TO_GOAL_COST_GAIN: 0.8
-# If path cost is used, setting the param "SPEED_COST_GAIN" to a value close to the param "PATH_COST_GAIN" may indicate better behavior
-SPEED_COST_GAIN: 0.4
-# If path cost is used, set the param "USE_PATH_COST" to true
-PATH_COST_GAIN: 0.4
-ANGLE_RESOLUTION: 0.087
-GOAL_THRESHOLD: 0.1
-TURN_DIRECTION_THRESHOLD: 0.1
-ANGLE_TO_GOAL_TH: pi
-SIM_DIRECTION: 1.57
-SLOW_VELOCITY_TH: 0.1
-OBS_RANGE: 2.5
+# Target Parameters
+TARGET_VELOCITY: 0.55 # [m/s]
+
+# Simulation Parameters
+PREDICT_TIME: 3.0     # [s]
+SIM_TIME_SAMPLES: 10
+SIM_PERIOD: 0.1       # [s]
+SIM_DIRECTION: 1.57   # [rad]
+SLOW_VELOCITY_TH: 0.1 # [m/s]
 VELOCITY_SAMPLES: 3
 YAWRATE_SAMPLES: 20
-SIM_TIME_SAMPLES: 10
-SIM_PERIOD: 0.1
+
+# Cost Parameters
+OBSTACLE_COST_GAIN: 1.0
+TO_GOAL_COST_GAIN: 0.8
+SPEED_COST_GAIN: 0.4    # If path cost is used, setting the param "SPEED_COST_GAIN" to a value close to the param "PATH_COST_GAIN" may indicate better behavior
+PATH_COST_GAIN: 0.4     # If path cost is used, set the param "USE_PATH_COST" to true
+ANGLE_RESOLUTION: 0.087 # [rad]
+OBS_RANGE: 2.5          # [m]
+
+# Goal Tolerance Parameters
+GOAL_THRESHOLD: 0.1           # [m]
+TURN_DIRECTION_THRESHOLD: 0.1 # [rad]
+
+# Other Parameters
+ANGLE_TO_GOAL_TH: pi # [rad]

config/robot_param.yaml

@@ -1,12 +1,17 @@
+## Frame Parameters
 ROBOT_FRAME: "base_link"
-MAX_VELOCITY: 1.0
-MIN_VELOCITY: 0.0
-MAX_YAWRATE: 1.0
-MIN_YAWRATE: 0.05
-MAX_IN_PLACE_YAWRATE: 0.6
-MIN_IN_PLACE_YAWRATE: 0.3
-MAX_ACCELERATION: 0.5
-MAX_DECELERATION: 2.0
-MAX_D_YAWRATE: 3.2
-ROBOT_RADIUS: 0.1 # If param "USE_FOOTPRINT" is set to true, this param is not used
-FOOTPRINT_PADDING: 0.01
+
+# Robot Size Parameters
+ROBOT_RADIUS: 0.1       # [m], If param "USE_FOOTPRINT" is set to true, this param is not used
+FOOTPRINT_PADDING: 0.01 # [m], If localmap contains padding, you should set this param to 0.0
+
+# Robot Configuration Parameters
+MAX_VELOCITY: 1.0         # [m/s]
+MIN_VELOCITY: 0.0         # [m/s]
+MAX_YAWRATE: 1.0          # [rad/s]
+MIN_YAWRATE: 0.05         # [rad/s]
+MAX_IN_PLACE_YAWRATE: 0.6 # [rad/s]
+MIN_IN_PLACE_YAWRATE: 0.3 # [rad/s]
+MAX_ACCELERATION: 0.5     # [m/s^2]
+MAX_DECELERATION: 2.0     # [m/s^2]
+MAX_D_YAWRATE: 3.2        # [rad/s^2]

docs/Parameters.md

@@ -1,6 +1,26 @@
 # Parameters
 ## Planner Parameters
  (config/dwa_param.yaml)
+### Target Parameters
+- ~\<name>/<b>TARGET_VELOCITY</b> (double, default: `0.55` [m/s]):<br>
+  The max target velocity of robot
+
+### Simulation Parameters
+- ~\<name>/<b>PREDICT_TIME</b> (double, default: `3.0` [s]):<br>
+  The amount of time to simulate trajectories
+- ~\<name>/<b>SIM_TIME_SAMPLES</b> (int, default: `10`):<br>
+  The number of samples to use when simulating trajectories
+- ~\<name>/<b>SIM_PERIOD</b> (double, default: `0.1` [s]):<br>
+  The simulation time related to the dynamic window. The product of this parameter and the acceleration is the amount of movement of the dynamic window.
+- ~\<name>/<b>SIM_DIRECTION</b> (double, default: `1.57` [rad]):<br>
+  The simulated turning angle when turning on the spot
+- ~\<name>/<b>SLOW_VELOCITY_TH</b> (double, default: `0.1` [m/s]):<br>
+  The threshold for slow velocity. If the robot's velocity is less than this value, yawrate less than `MIN_YAWRATE` are not sampled.
+- ~\<name>/<b>VELOCITY_SAMPLES</b> (int, default: `3`):<br>
+  The number of samples to use when searching for the best velocity
+- ~\<name>/<b>YAWRATE_SAMPLES</b> (int, default: `20`):<br>
+  The number of samples to use when searching for the best yawrate
+
 ### Cost Parameters
 - ~\<name>/<b>OBSTACLE_COST_GAIN</b> (double, default: `1.0`):<br>
   The weighting for how large the obstacle cost should be. Multiplied by the normalized obstacle cost. When the robot is far from obstacles, the cost is low.
@@ -10,27 +30,11 @@
   The weighting for how large the speed cost should be. Multiplied by the normalized speed cost. When the robot is fast, the cost is low.
 - ~\<name>/<b>PATH_COST_GAIN</b> (double, default: `0.4`):<br>
   The weighting for how large the path cost should be. Multiplied by the normalized path cost. When the robot is close to the path, the cost is low.
-- ~\<name>/<b>TARGET_VELOCITY</b> (double, default: `0.55` [m/s]):<br>
-  The max target velocity of robot
 - ~\<name>/<b>ANGLE_RESOLUTION</b> (double, default: `0.087` [rad]):<br>
   Search obstacle by this resolution
 - ~\<name>/<b>OBS_RANGE</b> (double, default: `2.5` [m]):<br>
   The maximum measurement distance to be considered when calculating obstacle cost
 
-### Simulation Parameters
-- ~\<name>/<b>PREDICT_TIME</b> (double, default: `3.0` [s]):<br>
-  The amount of time to simulate trajectories
-- ~\<name>/<b>DT</b> (double, default: `0.1` [s]):<br>
-  The simulation time-step
-- ~\<name>/<b>SIM_DIRECTION</b> (double, default: `1.57` [rad]):<br>
-  The simulated turning angle when turning on the spot
-- ~\<name>/<b>SLOW_VELOCITY_TH</b> (double, default: `0.1` [m/s]):<br>
-  The threshold for slow velocity. If the robot's velocity is less than this value, yawrate less than `MIN_YAWRATE` are not sampled.
-- ~\<name>/<b>VELOCITY_SAMPLES</b> (double, default: `3`):<br>
-  The number of samples to use when searching for the best velocity
-- ~\<name>/<b>YAWRATE_SAMPLES</b> (double, default: `20`):<br>
-  The number of samples to use when searching for the best yawrate
-
 ### Goal Tolerance Parameters
 - ~\<name>/<b>GOAL_THRESHOLD</b> (double, default: `0.1` [m]):<br>
   The tolerance for the robot in position when achieving its goal
@@ -77,14 +81,14 @@
 
 ## Other Parameters
  (launch/local_planner.launch)
-### Frame Parameter
-- ~\<name>/<b>GLOBAL_FRAME</b> (string, default: `map`):<br>
-  The coordinate frame of map
-
 ### Main Loop Parameter
 - ~\<name>/<b>HZ</b> (double, default: `20` [Hz]):<br>
   The rate of main loop
 
+### Frame Parameter
+- ~\<name>/<b>GLOBAL_FRAME</b> (string, default: `map`):<br>
+  The coordinate frame of map
+
 ### Topic Parameter
 - ~\<name>/<b>SUBSCRIBE_COUNT_TH</b> (double, default: `3`):<br>
   The allowable number of control loops if topic is not reached. If the number exceeds this value, set velocity and yawrate to 0.0.
@@ -93,10 +97,14 @@
 - ~\<name>/<b>SLEEP_TIME_AFTER_FINISH</b> (double, default: `0.5` [s]):<br>
   The sleep time after reaching the goal. Prevent bugs that occur on other nodes by not continuously publishing the finish flag when the goal is reached.
 
+### Visualization Parameter
+- ~\<name>/<b>V_PATH_WIDTH</b> (double, default: `0.05` [m]):<br>
+  The width of the local path visualization. The selected trajectory's width is this value. The candidate trajectories's width is 0.4 times this value. The footprint frame visualization's width is 0.2 times this value.
+
 ### Option
-- ~\<name>/<b>USE_SCAN_AS_INPUT</b> (bool, default: `false`):<br>
-  If scan is used instead of localmap, set to true.
 - ~\<name>/<b>USE_FOOTPRINT</b> (bool, default: `false`):<br>
   If footprint is used, set to true.
 - ~\<name>/<b>USE_PATH_COST</b> (bool, default: `false`):<br>
   If path cost is used, set to true.
+- ~\<name>/<b>USE_SCAN_AS_INPUT</b> (bool, default: `false`):<br>
+  If scan is used instead of localmap, set to true.

docs/Topics.md

@@ -17,6 +17,7 @@
 ## Necessary topics
 - /local_map (`nav_msgs/OccupancyGrid`)
   - robot-centered costmap
+  - the cells with an occupancy probability of 100 are considered as obstacles
 - /move_base_simple/goal (`geometry_msgs/PoseStamped`)
   - goal pose
 - /odom (`nav_msgs/Odometry`)
@@ -33,7 +34,7 @@
 - /footprint (`geometry_msgs/PolygonStamped`)
   - robot footprint
   - If robot footprint is used, set `USE_FOOTPRINT` to `true`
-  - `footprint_publisher` node in `amsl_navigation_utils` repository publishes rectangular footprint
+  - `footprint_publisher` node in [amsl_navigation_utils](https://github.com/amslabtech/amsl_navigation_utils.git) repository publishes rectangular footprint
 - /path (`nav_msgs/Path`)
   - a part of the global path (edge)
   - for path cost