Configuring Carmen - Histórico de revisão

Tiago Alves de Oliveira: /* Change Parameters on the Fly */

2012-09-28T18:22:15Z

‎Change Parameters on the Fly

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2012-09-14T19:02:57Z

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@@ Linha 139: / Linha 139: @@
 Using param_edit, you can change parameters served by param_server as you operate your robot, or within the simulator. You can save the new parameters to a file with the Save option of the File menu. Before opening param_edit, you must be running central and param_server. When you open the module, you will get a new window that looks like this:
-[[imagem:param_edit.gif]]
+[[imagem:param_edit.gif|center]]
 To change an On/Off parameter, simply click the button and param_server will immediately note the change. To change a text ot numerical parameter, click on the appropriate section on the left, then click on the white box of the parameter to change. Once you change the text, you must hit [enter] on your keyboard for the change to register in param_server.

@@ Linha 1: / Linha 1: @@
 [[category:Carmen]]
-=1  Introduction=
+=Introduction=
 The many programs of CARMEN work together to accomplish the tasks of navigating a robot from place place, mapping new environments, and others. Because much of the information required by one program to perform its task is required by another program to perform a different task. If the information is different between programs, it is possible for one program to prevent another from accomplishing its task, which brings about a situation which is potentially dangerous to the robot, it's environment, and even the people in it.
@@ Linha 10: / Linha 10: @@
 Finally, the parameter server can also be used as a map server. This ensures that all processes are using the same map, with the same resolution, etc.. The does entail a performance penalty in terms of bandwidth loss at the start up of each process, but we believe that resultant the ease of use, in terms of needing only one copy of the map and ensuring consistency, is an acceptable bargain.
-==2 Parameter Descriptions==
+==Parameter Descriptions==
 This is not necessarily a complete list of all of the parameters used in CARMEN.
-===2.1  Robot-type Parameters===
+===Robot-type Parameters===
 Used in the pioneer, rflex, scout, and other programs based on the type of robot used.
@@ Linha 27: / Linha 27: @@
 * num_sonars sets the number of sonar detectors on the robot. This is not used of use_sonar is off.
-===2.2  Robot===
+===Robot===
 Parameter Options are:
@@ Linha 48: / Linha 48: @@
 * timeout sets the maximum time the robot program will continue moving the physical robot without receiving a command. This value is in seconds.
-===2.3  Localize===
+===Localize===
 Parameter Options are:
@@ Linha 85: / Linha 85: @@
 * person_distance_std
-===2.4  Navigator===
+===Navigator===
 Parameter Options are:
@@ Linha 109: / Linha 109: @@
 * goal_theta_tolerance controls how close the navigator will get the robot to a desired orientation. Suggested starting value is 0.08 (about 5 degrees).
-==3  The Parameter Server==
+==The Parameter Server==
 Usage:
@@ Linha 126: / Linha 126: @@
 Finally, the parameter server also performs sanity checks, to make sure that all running CARMEN processes are the same version, to ensure consistency among message formats, etc. All programs are expected to call carmen_param_check_version() immediately after initializing the IPC connection.
-==4  Specifying Parameters from the Command Line==
+==Specifying Parameters from the Command Line==
 Parameter values can be temporarily over-ridden from the command line of a given process, for that process only. For example:
@@ Linha 135: / Linha 135: @@
 This parameter specification method is not advised, is a convenience only, and may be removed from future versions of carmen. Command-line parameters are assumed to have no module name, and attempts are made to find a parameter with any module name and matching parameter name. If a process uses multiple parameters with different module names and the same parameter name, the behaviour of command-line specification is undefined.
-==5  Change Parameters on the Fly==
+==Change Parameters on the Fly==
 Using param_edit, you can change parameters served by param_server as you operate your robot, or within the simulator. You can save the new parameters to a file with the Save option of the File menu. Before opening param_edit, you must be running central and param_server. When you open the module, you will get a new window that looks like this:
@@ Linha 145: / Linha 145: @@
 Note that some parameters are related to others. For instance, if a rear laser is added to the robot simulator as decribed above, the use_rear_laser button on the "simulator" set would be switched to "on," and rear_laser_dev on the "laser" set would have to be entered. To see the input from the laser on the robot_graph display, then the rear_laser button on the "robotgraph" set needs to be set to "on."
-==6  The ini File Format==
+==The ini File Format==
 The ini file format is ASCII, intended to be human readable and editable using emacs. Given the somewhat hierarchical nature of the file, a markup language such as XML may have been preferable, but this seems like overkill for a fairly simple IO task.
@@ Linha 166: / Linha 166: @@
 If a variable is specified twice, then only the last value is retained.
-===6.1  A Very Short Example ini File===
+===A Very Short Example ini File===
 [*]
@@ Linha 185: / Linha 185: @@
 robot_length      0.54
-==7  The Map File Format==
+==The Map File Format==
 A program for [[editing and creating]] maps is available with the CARMEN software.
@@ Linha 191: / Linha 191: @@
 Map files in CARMEN store evidence grid representations of 2-D worlds as well as other information related to robot navigation and localization. The format of these data files is a tagged file format, similar in spirit to the TIFF standard for image files. This is the official description of the CARMEN map file format.
-===7.1  Filenames:===
+===Filenames:===
 All CARMEN map files must end with the extension ".map". Map files may be compressed using gzip, but they must end with the extension ".map.gz".
-===7.2  Overall file format:===
+===Overall file format:===
 The map file may start with a arbitrary number of lines beginning with a # (hash). These lines are comments and are disregarded by programs that read the maps. They should be used to make basic information about the map human-readable.
@@ Linha 203: / Linha 203: @@
 A given CARMEN program may not know how to interpret every type of chunk in a map file. Programs should simply skip over any chunks that have types they cannot recognize. This will minimize problems with compatibility of different programs and maps.
-===7.3  Chunk Description:===
+===Chunk Description:===
 Byte 1 : Chunk type - unsigned byte
@@ Linha 237: / Linha 237: @@
 The format of the binary data for each chunk type will be described in turn.
-====7.3.1  Creator Chunk Description:====
+====Creator Chunk Description:====
 Bytes 1 - 10 : userid - ASCII chars
@@ Linha 251: / Linha 251: @@
 General description of the map.
-====7.3.2  Gridmap Chunk Description:====
+====Gridmap Chunk Description:====
 Bytes 1 - 4 : map columns - 1 unsigned byte
@@ Linha 269: / Linha 269: @@
 The values of all evidence grid cells. The cells vary between 0 for empty to 1 for occupied, and -1 for unknown. The data is in row order. (i.e. the first row values followed by the second row values, etc)
-====7.3.3  Offlimits Chunk Description:====
+====Offlimits Chunk Description:====
 The off-limits areas can be either off-limits points, or off-limits rectangles. The points are specified first, then the rectangles.
@@ Linha 281: / Linha 281: @@
 r1x1 r1y1 r1x2 r1y2 r2x1 r2y1 r2x2 r2y2 ... Each x and y are unsigned ints representing the coordinates of the off-limits rectangle.
-====7.3.4  Places Chunk Description:====
+====Places Chunk Description:====
 Bytes 1 - 4: number of named points in the map - unsigned int
@@ Linha 302: / Linha 302: @@
 Type 1 - 12 bytes - float x, float y, float theta
 Type 2 - 24 bytes - float x, float y, float theta, float xstd, float ystd, float zstd
-====7.3.5  Expected Chunk Description:====
+====Expected Chunk Description:====
 This has not yet been implemented and will be filled in later.
-====7.3.6  Laserscans Chunk Desription:====
+====Laserscans Chunk Desription:====
 Bytes 1 - 4 : Number of laser scans in the chunk - unsigned int

← Edição anterior		Edição das 18h59min de 14 de setembro de 2012
Linha 1:		Linha 1:
		+	[[category:Carmen]]
	=1 Introduction=		=1 Introduction=

@@ Linha 144: / Linha 144: @@
 Note that some parameters are related to others. For instance, if a rear laser is added to the robot simulator as decribed above, the use_rear_laser button on the "simulator" set would be switched to "on," and rear_laser_dev on the "laser" set would have to be entered. To see the input from the laser on the robot_graph display, then the rear_laser button on the "robotgraph" set needs to be set to "on."
-  The ini File Format
+==6  The ini File Format==
 The ini file format is ASCII, intended to be human readable and editable using emacs. Given the somewhat hierarchical nature of the file, a markup language such as XML may have been preferable, but this seems like overkill for a fairly simple IO task.
@@ Linha 150: / Linha 150: @@
 The file consists of robot definition sections, delimited at the start by
-[<section name>]
+  [<section name>]
 and delimited at the end by the start of another section, or by the end-of-file. The section name should either be * (for all robots) or be the name of a robot to be specified on the command line when starting the parameter server.
 Each section consists of parameter definitions, given by:
-<module name>_<parameter name> <value>
+  <module name>_<parameter name> <value>
 The module name can contain any characters except white space and the underscore (`_') character. The parameter name can contain any characters except whitespace. The parameter value can contain any characters at all, but the value ends with the end of line. There is no mechanism for writing parameter values across multiple lines. Trailing whitespace is trimmed from parameter values.
@@ Linha 165: / Linha 165: @@
 If a variable is specified twice, then only the last value is retained.
-.1  A Very Short Example ini File
+===6.1  A Very Short Example ini File===
 [*]
@@ Linha 184: / Linha 184: @@
 robot_length      0.54
-  The Map File Format
+==7  The Map File Format==
-A program for editing and creating maps is available with the CARMEN software.
+A program for [[editing and creating]] maps is available with the CARMEN software.
 Map files in CARMEN store evidence grid representations of 2-D worlds as well as other information related to robot navigation and localization. The format of these data files is a tagged file format, similar in spirit to the TIFF standard for image files. This is the official description of the CARMEN map file format.
-.1  Filenames:
+===7.1  Filenames:===
 All CARMEN map files must end with the extension ".map". Map files may be compressed using gzip, but they must end with the extension ".map.gz".
-.2  Overall file format:
+===7.2  Overall file format:===
 The map file may start with a arbitrary number of lines beginning with a # (hash). These lines are comments and are disregarded by programs that read the maps. They should be used to make basic information about the map human-readable.
@@ Linha 202: / Linha 202: @@
 A given CARMEN program may not know how to interpret every type of chunk in a map file. Programs should simply skip over any chunks that have types they cannot recognize. This will minimize problems with compatibility of different programs and maps.
-.3  Chunk Description:
+===7.3  Chunk Description:===
 Byte 1 : Chunk type - unsigned byte
@@ Linha 236: / Linha 236: @@
 The format of the binary data for each chunk type will be described in turn.
-.3.1  Creator Chunk Description:
+====7.3.1  Creator Chunk Description:====
 Bytes 1 - 10 : userid - ASCII chars
@@ Linha 250: / Linha 250: @@
 General description of the map.
-.3.2  Gridmap Chunk Description:
+====7.3.2  Gridmap Chunk Description:====
 Bytes 1 - 4 : map columns - 1 unsigned byte
@@ Linha 268: / Linha 268: @@
 The values of all evidence grid cells. The cells vary between 0 for empty to 1 for occupied, and -1 for unknown. The data is in row order. (i.e. the first row values followed by the second row values, etc)
-.3.3  Offlimits Chunk Description:
+====7.3.3  Offlimits Chunk Description:====
 The off-limits areas can be either off-limits points, or off-limits rectangles. The points are specified first, then the rectangles.
@@ Linha 280: / Linha 280: @@
 r1x1 r1y1 r1x2 r1y2 r2x1 r2y1 r2x2 r2y2 ... Each x and y are unsigned ints representing the coordinates of the off-limits rectangle.
-.3.4  Places Chunk Description:
+====7.3.4  Places Chunk Description:====
 Bytes 1 - 4: number of named points in the map - unsigned int
@@ Linha 301: / Linha 301: @@
 Type 1 - 12 bytes - float x, float y, float theta
 Type 2 - 24 bytes - float x, float y, float theta, float xstd, float ystd, float zstd
-.3.5  Expected Chunk Description:
+====7.3.5  Expected Chunk Description:====
 This has not yet been implemented and will be filled in later.
-.3.6  Laserscans Chunk Desription:
+====7.3.6  Laserscans Chunk Desription:====
 Bytes 1 - 4 : Number of laser scans in the chunk - unsigned int

@@ Linha 138: / Linha 138: @@
 Using param_edit, you can change parameters served by param_server as you operate your robot, or within the simulator. You can save the new parameters to a file with the Save option of the File menu. Before opening param_edit, you must be running central and param_server. When you open the module, you will get a new window that looks like this:
-[[imagem]]
+[[imagem:param_edit.gif]]
 To change an On/Off parameter, simply click the button and param_server will immediately note the change. To change a text ot numerical parameter, click on the appropriate section on the left, then click on the white box of the parameter to change. Once you change the text, you must hit [enter] on your keyboard for the change to register in param_server.

@@ Linha 113: / Linha 113: @@
    param_server -robot <robot name> [map file] [ini file]
-The parameter server reads parameter definitions from the ini file, or, if no ini file name is provided on the command line, then attempts to load parameters from ./carmen.ini, ../carmen.ini, and finally ../src/carmen.ini. If no parameter file can be found, then the process exits with an error.
+The parameter server reads parameter definitions from the ini file, or, if no ini file name is provided on the command line, then attempts to load parameters from
-To make life easier, multiple robot definitions can be contained in a single ini file. Therefore, the parameter server requires a robot name to select a set of parameters, using the required argument -robot <robot name>. At start up, the parameter server loads all the parameter definitions listed under the generic [*] parameter set, and also all the parameters listed under the matching robot name.
+To make life easier, multiple robot definitions can be contained in a single ini file. Therefore, the parameter server requires a robot name to select a set of parameters, using the required argument
 The parameter server can also serve maps, subsuming the functionality of the map server.

@@ Linha 88: / Linha 88: @@
 Parameter Options are:
-max_t_vel sets maximum translational (forward or backward) velocity in meters per second.
+* max_t_vel sets maximum translational (forward or backward) velocity in meters per second.
-max_r_vel sets maximum rotational (turning) velocity in radians per second
+* max_r_vel sets maximum rotational (turning) velocity in radians per second
-min_approach_dist sets how close to subgoals the robot much reach before proceding to the next subgoal or how close to the final goal before deciding it has been reached.
+* min_approach_dist sets how close to subgoals the robot much reach before proceding to the next subgoal or how close to the final goal before deciding it has been reached.
-min_side_dist sets the minimum distance the robot side will approach a stationary object.
+* min_side_dist sets the minimum distance the robot side will approach a stationary object.
-length is the length of the robot in meters.
+* length is the length of the robot in meters.
-width is the width of the robot in meters.
+* width is the width of the robot in meters.
-acceleration sets the accelleration rate of the robot in meters per second squared.
+* acceleration sets the accelleration rate of the robot in meters per second squared.
-reaction_time is how long it takes for the base to react to a command, in seconds. If you want to know how quickly the robot can stop, you have to know how far it will travel while it is reacting to the command.
+* reaction_time is how long it takes for the base to react to a command, in seconds. If you want to know how quickly the robot can stop, you have to know how far it will travel while it is reacting to the command.
-curvature sets how much the robot will curve while moving forward during turns in radians per meter.
+* curvature sets how much the robot will curve while moving forward during turns in radians per meter.
-planner chooses one of two path planners available in Carmen.
+* planner chooses one of two path planners available in Carmen.
 ant chooses to use an ANT server.
-port specifies a port for an ANT server.
+* port specifies a port for an ANT server.
-num_lasers specifies how many lasers are being used.
+* num_lasers specifies how many lasers are being used.
-update_map If this is on, laser data is integrated into the map (based on the current estimate of the position provided by localize and odometry), and the planner replans in the new map.
+* update_map If this is on, laser data is integrated into the map (based on the current estimate of the position provided by localize and odometry), and the planner replans in the new map.
-max_laser_range If update_map is on, then laser_data is integrated into the map only up to max_laser_range, in metres. Changes to the map further than max_laser_range are ignored. If update_map is off, this parameter has no effect.
+* max_laser_range If update_map is on, then laser_data is integrated into the map only up to max_laser_range, in metres. Changes to the map further than max_laser_range are ignored. If update_map is off, this parameter has no effect.
-max_collision_range specifies the distance an obstical should be before replanning a path to avoid it.
+* max_collision_range specifies the distance an obstical should be before replanning a path to avoid it.
-replan_frequency specifies how often the planner will replan the robot path based on its current position
+* replan_frequency specifies how often the planner will replan the robot path based on its current position
-smooth_path If this parameter is off, then the conventional planner generates plans that consist of sequences of adjacent grid cells that the robot should travel through. If this smooth_path is on, then the sequences of grid cells are smoothed into sequences of waypoints joined by straight lines. This parameter should almost always be on for the conventional planner.
+* smooth_path If this parameter is off, then the conventional planner generates plans that consist of sequences of adjacent grid cells that the robot should travel through. If this smooth_path is on, then the sequences of grid cells are smoothed into sequences of waypoints joined by straight lines. This parameter should almost always be on for the conventional planner.
-goal_theta_tolerance controls how close the navigator will get the robot to a desired orientation. Suggested starting value is 0.08 (about 5 degrees).
+* goal_theta_tolerance controls how close the navigator will get the robot to a desired orientation. Suggested starting value is 0.08 (about 5 degrees).
-Usage: param_server -robot <robot name> [map file] [ini file]
+==3  The Parameter Server==
 The parameter server reads parameter definitions from the ini file, or, if no ini file name is provided on the command line, then attempts to load parameters from ./carmen.ini, ../carmen.ini, and finally ../src/carmen.ini. If no parameter file can be found, then the process exits with an error.

@@ Linha 26: / Linha 26: @@
 * num_sonars sets the number of sonar detectors on the robot. This is not used of use_sonar is off.
-==2.2  Robot==
+===2.2  Robot===
 Parameter Options are:
@@ Linha 51: / Linha 51: @@
 Parameter Options are:
-frontlaser_offset is the distance in meters forward of robot center the front laser scans.
+* frontlaser_offset is the distance in meters forward of robot center the front laser scans.
-rearlaser_offset is the distance in meters behind robot center the rear laser scans.
+* rearlaser_offset is the distance in meters behind robot center the rear laser scans.
-robot_particles is number of particles to be used for localization. More particles results in more robust localization, but more computation
+* robot_particles is number of particles to be used for localization. More particles results in more robust localization, but more computation
-max_range is maximum range to incorporate laser readings.
+* max_range is maximum range to incorporate laser readings.
-min_wall_prob Laser range values are either incorporated into every particle in the particle filter, or they are thrown out as outliers. If a laser reading receives a probability of less than min_wall_prob in at least outlier_fraction percent of the particles, the reading is called an outlier and disregarded by all particles.
+* min_wall_prob Laser range values are either incorporated into every particle in the particle filter, or they are thrown out as outliers. If a laser reading receives a probability of less than min_wall_prob in at least outlier_fraction percent of the particles, the reading is called an outlier and disregarded by all particles.
-outlier_fraction see min_wall_prob.
+* outlier_fraction see min_wall_prob.
-update_distance If the robot does not move, successively resampling the particle filter would result in only the single most-likely particle surviving. In order to insure that the observations incorporated into the filter are reasonably independent, resampling is only done if the robot translates by an amount update_distance, or rotates by an amount update_angle.
+* update_distance If the robot does not move, successively resampling the particle filter would result in only the single most-likely particle surviving. In order to insure that the observations incorporated into the filter are reasonably independent, resampling is only done if the robot translates by an amount update_distance, or rotates by an amount update_angle.
-update_angle see update_distance.
+* update_angle see update_distance.
-laser_skip The localizer will only process every nth laser reading. This is to increase the likelihood of independent readings and to decrease the computational requirement of the localizer.
+* laser_skip The localizer will only process every nth laser reading. This is to increase the likelihood of independent readings and to decrease the computational requirement of the localizer.
-use_rear_laser sets whether data from the rear laser should be incorporated. The lasers must be relatively well aligned. Use at your own risk.
+* use_rear_laser sets whether data from the rear laser should be incorporated. The lasers must be relatively well aligned. Use at your own risk.
 The following four parameters describe the robot's motion model. Start with non-zero a1 and a3, and add some a2 and a4 if you have trouble localizing.
-odom_a1 controls the contribution of rotational motion to rotational error.
+* odom_a1 controls the contribution of rotational motion to rotational error.
-odom_a2 controls the contribution of translational motion to rotational error.
+* odom_a2 controls the contribution of translational motion to rotational error.
-odom_a3 controls the contribution of translational motion to translational error.
+* odom_a3 controls the contribution of translational motion to translational error.
-odom_a4 controls the contribution of rotational motion to translational error.
+* odom_a4 controls the contribution of rotational motion to translational error.
 occupied_prob probability of a map cell to be considered occupied.
-lmap_std standard deviation of map likelihood function. This can be thought of as the "fuzziness" of the map. The higher the value, the more tolerant the localizer will be to map errors, and the higher the pose variance will be.
+* lmap_std standard deviation of map likelihood function. This can be thought of as the "fuzziness" of the map. The higher the value, the more tolerant the localizer will be to map errors, and the higher the pose variance will be.
-global_lmap_std This is the same as lmap_std, but for when the robot is in global localization mode. In general, this should be higher than lmap_std.
+* global_lmap_std This is the same as lmap_std, but for when the robot is in global localization mode. In general, this should be higher than lmap_std.
-global_evidence_weight During global localization, evidence is counted less heavily than normal. This weight specifies what the fraction of a normal reading that a global localization reading should be considered as.
+* global_evidence_weight During global localization, evidence is counted less heavily than normal. This weight specifies what the fraction of a normal reading that a global localization reading should be considered as.
-global_distance_threshold The localizer uses the global localization parameters if there is a large spread of particles. If any particle is farther than global_distance_threshold from the mean, than global localization is used.
+* global_distance_threshold The localizer uses the global localization parameters if there is a large spread of particles. If any particle is farther than global_distance_threshold from the mean, than global localization is used.
 The following parameters control integrated localization and people tracking. They are somewhat difficult to use. Email mmde+carmen@cs.cmu.edu if you need help tuning them.
-people_tracking turns people tracking on or off.
+* people_tracking turns people tracking on or off.
-person_particles
+* person_particles
-max_people_range
+* max_people_range
-max_people_std
+* max_people_std
-person_average_width This parameter is not in any standard units.
+* person_average_width This parameter is not in any standard units.
-person_average_prob
+* person_average_prob
-person_distance_std
+* person_distance_std
-person_distance_std
+* person_distance_std
 .4  Navigator
 Parameter Options are:

@@ Linha 9: / Linha 9: @@
 Finally, the parameter server can also be used as a map server. This ensures that all processes are using the same map, with the same resolution, etc.. The does entail a performance penalty in terms of bandwidth loss at the start up of each process, but we believe that resultant the ease of use, in terms of needing only one copy of the map and ensuring consistency, is an acceptable bargain.
-==2  Parameter Descriptions==
+==2 Parameter Descriptions==
 This is not necessarily a complete list of all of the parameters used in CARMEN.
-=== 2.1  Robot-type Parameters ===
+===2.1  Robot-type Parameters===
-used in the pioneer, rflex, scout, and other programs based on the type of robot used.
+Used in the pioneer, rflex, scout, and other programs based on the type of robot used.
 Parameter Options:
@@ Linha 25: / Linha 25: @@
 * sonar_offsets sets the position of each sonar relative to the center of the robot, and its facing relative to forward. Each sonar has three numbers associated: distance forward of center in meters, distance right of center in meters, and facing in radians measuring clockwise from forward. This is not used of use_sonar is off.
 * num_sonars sets the number of sonar detectors on the robot. This is not used of use_sonar is off.
 ==2.2  Robot==
 Parameter Options are:
-max_t_vel sets the maximum translational (forward-backward) speed of the robot in meters per second. If this is set higher than the maximum allowable speed the base can support, then the behaviour is undefined.
+* max_t_vel sets the maximum translational (forward-backward) speed of the robot in meters per second. If this is set higher than the maximum allowable speed the base can support, then the behaviour is undefined.
-max_r_vel sets the maximum rotational (spinning) speed in radians per second. If this is set higher than the maximum allowable speed the base can support, or, if the base is differential drive and this is set higher than the translation speed can support, then the behaviour is undefined.
+* max_r_vel sets the maximum rotational (spinning) speed in radians per second. If this is set higher than the maximum allowable speed the base can support, or, if the base is differential drive and this is set higher than the translation speed can support, then the behaviour is undefined.
-min_approach_dist sets the closest the robot should get to a stationary object toward which it is moving. Current speed and programmed accelerations are taken into account, so the actual distance between the robot and object should be the same if the robot is moving fast or slow. The value is in meters.
+* min_approach_dist sets the closest the robot should get to a stationary object toward which it is moving. Current speed and programmed accelerations are taken into account, so the actual distance between the robot and object should be the same if the robot is moving fast or slow. The value is in meters.
-min_side_dist sets the closest the robot will approach a stationary object as it passes the object. The value is in meters.
+* min_side_dist sets the closest the robot will approach a stationary object as it passes the object. The value is in meters.
-length is the front-to-back measure of the robot in meters.
+* length is the front-to-back measure of the robot in meters.
-width is the side-to-side measure of the robot in meters. Even is the robot is round, this parameter should be set.
+* width is the side-to-side measure of the robot in meters. Even is the robot is round, this parameter should be set.
-acceleration and deceleration sets how fast the robot should accelerate and decelerate, in m/s^2. If the base does not support different acceleration and deceleration parameters (e.g., nomadic technologies bases), then base_services tries to mimic this support by changing the acceleration value to the deceleration value once the robot is moving and no commands are pending.
+* acceleration and deceleration sets how fast the robot should accelerate and decelerate, in m/s^2. If the base does not support different acceleration and deceleration parameters (e.g., nomadic technologies bases), then base_services tries to mimic this support by changing the acceleration value to the deceleration value once the robot is moving and no commands are pending.
-reaction_time is how long it takes for the base to react to a command, in seconds. If you want to know how quickly the robot can stop, you have to know how far it will travel while it is reacting to the command.
+* reaction_time is how long it takes for the base to react to a command, in seconds. If you want to know how quickly the robot can stop, you have to know how far it will travel while it is reacting to the command.
-curvature is how much the robot will veer to the right or left as it is travelling in a straight line. Nominally used by the conventional planner, but mostly ignored.
+* curvature is how much the robot will veer to the right or left as it is travelling in a straight line. Nominally used by the conventional planner, but mostly ignored.
-theta_gain is used to control the p-term of the bearing part of a pd control loop that can be used to drive the robot to an arbitrary point at range d and bearing theta. The correct value of this term is related to the dynamic characteristics of particular bases, and can be altered if the robot is oscillating widely, or not turning fast enough, etc. Determing the correct value is usually done experimentally.
+* theta_gain is used to control the p-term of the bearing part of a pd control loop that can be used to drive the robot to an arbitrary point at range d and bearing theta. The correct value of this term is related to the dynamic characteristics of particular bases, and can be altered if the robot is oscillating widely, or not turning fast enough, etc. Determing the correct value is usually done experimentally.
-theta_d_gain controls the d-term of bearing part of the control loop. Again, determined experimentally for each base.
+* theta_d_gain controls the d-term of bearing part of the control loop. Again, determined experimentally for each base.
-displacement_gain controls the p-term of the range part of the control loop. Determined experimentally for each base. There is no parameters for the d-term of the range part -- the current value is set to 0.5. A displacement_d_gain parameter should probably be added.
+* displacement_gain controls the p-term of the range part of the control loop. Determined experimentally for each base. There is no parameters for the d-term of the range part -- the current value is set to 0.5. A displacement_d_gain parameter should probably be added.
-allow_rear_motion sets whether or not to allow the robot to back up.
+* allow_rear_motion sets whether or not to allow the robot to back up.
-converge determines whether or not robot should start publishing robot_laser/robot_sonar messages immediately, or wait until enough messages have been received that the timestamp offset between the odometry and the laser_laser/base_sonar messages can be reliably estimated, for good timestamp-based interpolation of the laser odometry.
+* converge determines whether or not robot should start publishing robot_laser/robot_sonar messages immediately, or wait until enough messages have been received that the timestamp offset between the odometry and the laser_laser/base_sonar messages can be reliably estimated, for good timestamp-based interpolation of the laser odometry.
-use_laser sets whether or not to use a laser device (Sick LMS or PLS). This affects robot only, in terms of whether it will subscribe to laser_laser messages, and then publish robot_laser messages.
+* use_laser sets whether or not to use a laser device (Sick LMS or PLS). This affects robot only, in terms of whether it will subscribe to laser_laser messages, and then publish robot_laser messages.
-timeout sets the maximum time the robot program will continue moving the physical robot without receiving a command. This value is in seconds.
+* timeout sets the maximum time the robot program will continue moving the physical robot without receiving a command. This value is in seconds.
 .3  Localize
 Parameter Options are: