Fix/megageniales fixes nav stack (#74)

* Fixed grid and bumped hivemind

* WIP obstacles avoidance

* bump hivemind

* bump HM

Co-authored-by: Gabriel Lessard <lesg2605@usherbrooke.ca>
Co-authored-by: Etienne <vile2094@usherbrooke.ca>

Author: 3 people

contrib/HiveMind

@@ -4,7 +4,7 @@ GlobalPlanner:
 
   use_dijkstra: false         # If true, use Dijkstra's algorithm. Otherwise, use A*.
   use_quadratic: true         # If true, use the quadratic approximation of the potential. Otherwise, use a simpler calculation
-  use_grid_path: false        # If true, create a path that follows the grid boundaries. Otherwise, use a gradient descent method
+  use_grid_path: true         # If true, create a path that follows the grid boundaries. Otherwise, use a gradient descent method
   old_navfn_behavior: false   # If true, the planner will mirror the behavior of navfn
 
   lethal_cost: 253            # Lethal cost (can be changed with dynamic reconfiguring)

src/swarmus_ros_navigation/config/base_global_planner_params.yaml

@@ -20,8 +20,8 @@ obstacle_layer:
 
 inflation_layer:
   enabled:              true
-  cost_scaling_factor:  2.5  # exponential rate at which the obstacle cost drops off (default: 10)
-  inflation_radius:     1  # max. distance from an obstacle at which costs are incurred for planning paths.
+  cost_scaling_factor:  2  # exponential rate at which the obstacle cost drops off (default: 10)
+  inflation_radius:     0.5  # max. distance from an obstacle at which costs are incurred for planning paths.
 
 staticmap_layer:
   unknow_cost_value: -1         # Value at which a map value is considered as unknown. If map doesn't use unknown, it will be considered occupied

src/swarmus_ros_navigation/config/costmap_common_params.yaml

@@ -3,7 +3,7 @@ controller_frequency: 20.0
 planner_patience: 5.0
 controller_patience: 15.0
 conservative_reset_dist: 3.0
-planner_frequency: 0 #1
+planner_frequency: 2 #0
 oscillation_timeout: 15.0
 oscillation_distance: 0.05
 holonomic_robot: false

src/swarmus_ros_navigation/config/move_base_params_pioneer.yaml

@@ -7,7 +7,7 @@
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
     <!-- Load common parameters of the local and global planner-->
     <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>
-    <param name="base_global_planner" value="global_planner/GlobalPlanner"/>
+    <!--param name="base_global_planner" value="global_planner/GlobalPlanner"/-->
 
     <rosparam file="$(find swarmus_ros_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" subst_value="true"/>
     <rosparam file="$(find swarmus_ros_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" subst_value="true"/>