Tuning guide

[SteveMacenski]

• [ ] Kinematic parameters for behaviors, controllers, etc
• [x] 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)
• [x] Caching obstacle heuristic (Smac Hybrid-A*, State Lattice)
• [x] Controller selection
• [x] Planner selection
• [x] launch options (composition, headless, etc)
• [x] Rotate in Place Behavior
• [x] Robot Footprint vs Radius
• [x] Inflation Potential Fields
• ... anything you think would be insightful!

[SteveMacenski]

https://github.com/ros-planning/navigation.ros.org/pull/246

[KSorte]

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