Simulation parameters

All the parameters for the simulation are saved in params/config.yaml. They are loaded into Python scripts using the yaml module.

Topics parameters

Topic name	Namespace	Description	Message type
robot_state	/robot_N	where each robot's state is published	RobotState
robot_topopath	/robot_N	planner sends the topological path to a robot in this topic	RobotTopopath
interest_points	/	where the infos about interest points are saved	ToponavIpoint
destinations_log	/	where the destination states debug message are sent	DestinationDebug
pose_topic	/robot_N	where the localization system publishes the robot's pose	PoseWithCovarianceStamped
goal_topic	/robot_N	where the navigation system subscribes for navigation goals	PoseStamped
make_plan	/robot_N	service of the navigation system that responds with the list of the points from point A to point B	GetPlan
namespaces_topic	/	where all the robots' namespaces have to be published	none

Robot parameters

• robot_max_speed: the robot's maximum speed value expressed in m/s. This package uses a Turtlebot3 Waffle, so it defaults to 0.26
• robot_state_rate: rate of publish of each robot's state. Should not be more than 5.

Afference parameters

• ipoint_radius: radius of the circumference built around each interest point. The larger the area, the less the robot will have to get closer to the interest point to "visit" it.
• afference_mode: how the afference gets calculated. Two modes have been provided: 'DWAPlanner' or 'Euclidean'.
• debug_afference: debug parameter. See this script's documentation to understand how it works.

Simulation parameters

• logging: enables or disables logs on STDOUT.
• simulation_confirm_gui: enables or disables a gui that prompts the user to save the simulation data.
• simulation_dump: enables or disables automatic save of simulation data. Bypasses simulation_confirm_gui.
• simulation_time_measure: the time measure. Can be minutes or seconds.
• simulation_duration: the time duration of the simulation, using the time measure above.