update

config/nav2_params.yaml

@@ -26,7 +26,7 @@ amcl:
     recovery_alpha_fast: 0.0
     recovery_alpha_slow: 0.0
     resample_interval: 1
-    robot_model_type: "differential"
+    robot_model_type: "nav2_amcl::DifferentialMotionModel"
     save_pose_rate: 0.5
     sigma_hit: 0.2
     tf_broadcast: true
@@ -39,49 +39,71 @@ amcl:
     z_short: 0.05
     scan_topic: scan
 
-amcl_map_client:
-  ros__parameters:
-    use_sim_time: True
-
-amcl_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 bt_navigator:
   ros__parameters:
     use_sim_time: True
     global_frame: map
     robot_base_frame: base_link
     odom_topic: /odom
-    enable_groot_monitoring: True
+    bt_loop_duration: 10
-    groot_zmq_publisher_port: 1666
+    default_server_timeout: 20
-    groot_zmq_server_port: 1667
+    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
-    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
+    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
+    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
+    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
     plugin_lib_names:
     - nav2_compute_path_to_pose_action_bt_node
+    - nav2_compute_path_through_poses_action_bt_node
+    - nav2_smooth_path_action_bt_node
     - nav2_follow_path_action_bt_node
-    - nav2_back_up_action_bt_node
     - nav2_spin_action_bt_node
     - nav2_wait_action_bt_node
+    - nav2_assisted_teleop_action_bt_node
+    - nav2_back_up_action_bt_node
+    - nav2_drive_on_heading_bt_node
     - nav2_clear_costmap_service_bt_node
     - nav2_is_stuck_condition_bt_node
     - nav2_goal_reached_condition_bt_node
     - nav2_goal_updated_condition_bt_node
+    - nav2_globally_updated_goal_condition_bt_node
+    - nav2_is_path_valid_condition_bt_node
     - nav2_initial_pose_received_condition_bt_node
     - nav2_reinitialize_global_localization_service_bt_node
     - nav2_rate_controller_bt_node
     - nav2_distance_controller_bt_node
     - nav2_speed_controller_bt_node
     - nav2_truncate_path_action_bt_node
+    - nav2_truncate_path_local_action_bt_node
     - nav2_goal_updater_node_bt_node
     - nav2_recovery_node_bt_node
     - nav2_pipeline_sequence_bt_node
     - nav2_round_robin_node_bt_node
     - nav2_transform_available_condition_bt_node
     - nav2_time_expired_condition_bt_node
+    - nav2_path_expiring_timer_condition
     - nav2_distance_traveled_condition_bt_node
+    - nav2_single_trigger_bt_node
+    - nav2_goal_updated_controller_bt_node
+    - nav2_is_battery_low_condition_bt_node
+    - nav2_navigate_through_poses_action_bt_node
+    - nav2_navigate_to_pose_action_bt_node
+    - nav2_remove_passed_goals_action_bt_node
+    - nav2_planner_selector_bt_node
+    - nav2_controller_selector_bt_node
+    - nav2_goal_checker_selector_bt_node
+    - nav2_controller_cancel_bt_node
+    - nav2_path_longer_on_approach_bt_node
+    - nav2_wait_cancel_bt_node
+    - nav2_spin_cancel_bt_node
+    - nav2_back_up_cancel_bt_node
+    - nav2_assisted_teleop_cancel_bt_node
+    - nav2_drive_on_heading_cancel_bt_node
 
-bt_navigator_rclcpp_node:
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator_navigate_to_pose_rclcpp_node:
   ros__parameters:
     use_sim_time: True
 
@@ -92,8 +114,9 @@ controller_server:
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.3
     progress_checker_plugin: "progress_checker"
-    goal_checker_plugin: "goal_checker"
+    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
     controller_plugins: ["FollowPath"]
 
     # Progress checker parameters
@@ -102,11 +125,16 @@ controller_server:
       required_movement_radius: 0.5
       movement_time_allowance: 10.0
     # Goal checker parameters
-    goal_checker:
+    #precise_goal_checker:
+    #  plugin: "nav2_controller::SimpleGoalChecker"
+    #  xy_goal_tolerance: 0.25
+    #  yaw_goal_tolerance: 0.25
+    #  stateful: True
+    general_goal_checker:
+      stateful: True
       plugin: "nav2_controller::SimpleGoalChecker"
       xy_goal_tolerance: 0.25
       yaw_goal_tolerance: 0.25
-      stateful: True
     # DWB parameters
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"
@@ -150,10 +178,6 @@ controller_server:
       RotateToGoal.slowing_factor: 5.0
       RotateToGoal.lookahead_time: -1.0
 
-controller_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 local_costmap:
   local_costmap:
     ros__parameters:
@@ -188,15 +212,14 @@ local_costmap:
           clearing: True
           marking: True
           data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
       static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: True
       always_send_full_costmap: True
-  local_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  local_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 global_costmap:
   global_costmap:
@@ -220,6 +243,10 @@ global_costmap:
           clearing: True
           marking: True
           data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
       static_layer:
         plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: True
@@ -228,25 +255,21 @@ global_costmap:
         cost_scaling_factor: 3.0
         inflation_radius: 0.55
       always_send_full_costmap: True
-  global_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  global_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 map_server:
   ros__parameters:
     use_sim_time: True
-    yaml_filename: "turtlebot3_world.yaml"
+    # Overridden in launch by the "map" launch configuration or provided default value.
+    # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
+    yaml_filename: ""
 
 map_saver:
   ros__parameters:
     use_sim_time: True
-    save_map_timeout: 5000
+    save_map_timeout: 5.0
     free_thresh_default: 0.25
     occupied_thresh_default: 0.65
-    map_subscribe_transient_local: False
+    map_subscribe_transient_local: True
 
 planner_server:
   ros__parameters:
@@ -259,25 +282,35 @@ planner_server:
       use_astar: false
       allow_unknown: true
 
-planner_server_rclcpp_node:
+smoother_server:
   ros__parameters:
     use_sim_time: True
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: True
 
-recoveries_server:
+behavior_server:
   ros__parameters:
     costmap_topic: local_costmap/costmap_raw
     footprint_topic: local_costmap/published_footprint
     cycle_frequency: 10.0
-    recovery_plugins: ["spin", "back_up", "wait"]
+    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
     spin:
-      plugin: "nav2_recoveries/Spin"
+      plugin: "nav2_behaviors/Spin"
-    back_up:
+    backup:
-      plugin: "nav2_recoveries/BackUp"
+      plugin: "nav2_behaviors/BackUp"
+    drive_on_heading:
+      plugin: "nav2_behaviors/DriveOnHeading"
     wait:
-      plugin: "nav2_recoveries/Wait"
+      plugin: "nav2_behaviors/Wait"
+    assisted_teleop:
+      plugin: "nav2_behaviors/AssistedTeleop"
     global_frame: odom
     robot_base_frame: base_link
-    transform_timeout: 0.1
+    transform_tolerance: 0.1
     use_sim_time: true
     simulate_ahead_time: 2.0
     max_rotational_vel: 1.0
@@ -287,3 +320,29 @@ recoveries_server:
 robot_state_publisher:
   ros__parameters:
     use_sim_time: True
+
+waypoint_follower:
+  ros__parameters:
+    use_sim_time: True
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200
+
+velocity_smoother:
+  ros__parameters:
+    use_sim_time: True
+    smoothing_frequency: 20.0
+    scale_velocities: False
+    feedback: "OPEN_LOOP"
+    max_velocity: [0.26, 0.0, 1.0]
+    min_velocity: [-0.26, 0.0, -1.0]
+    max_accel: [2.5, 0.0, 3.2]
+    max_decel: [-2.5, 0.0, -3.2]
+    odom_topic: "odom"
+    odom_duration: 0.1
+    deadband_velocity: [0.0, 0.0, 0.0]
+    velocity_timeout: 1.0

launch/joy_teleop.launch.py

@@ -80,7 +80,7 @@ def generate_launch_description():
     teleop_spawner = Node(
         package="rmp220_teleop",
         executable="rmp220_teleop",
-        remappings=[('/diffbot_base_controller/cmd_vel_unstamped','/cmd_vel_out')]
+        remappings=[('/diffbot_base_controller/cmd_vel_unstamped','/cmd_vel_joy')]
     )
 
     cam_node = Node(

launch/nav2.launch.py

@@ -17,9 +17,12 @@ import os
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
-from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import LoadComposableNodes
 from launch_ros.actions import Node
+from launch_ros.descriptions import ComposableNode
 from nav2_common.launch import RewrittenYaml
 
 
@@ -31,14 +34,19 @@ def generate_launch_description():
     use_sim_time = LaunchConfiguration('use_sim_time')
     autostart = LaunchConfiguration('autostart')
     params_file = LaunchConfiguration('params_file')
-    default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
+    use_composition = LaunchConfiguration('use_composition')
-    map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
+    container_name = LaunchConfiguration('container_name')
+    container_name_full = (namespace, '/', container_name)
+    use_respawn = LaunchConfiguration('use_respawn')
+    log_level = LaunchConfiguration('log_level')
 
     lifecycle_nodes = ['controller_server',
+                       'smoother_server',
                        'planner_server',
-                       'recoveries_server',
+                       'behavior_server',
                        'bt_navigator',
-                       'waypoint_follower']
+                       'waypoint_follower',
+                       'velocity_smoother']
 
     # Map fully qualified names to relative ones so the node's namespace can be prepended.
     # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
@@ -52,9 +60,7 @@ def generate_launch_description():
     # Create our own temporary YAML files that include substitutions
     param_substitutions = {
         'use_sim_time': use_sim_time,
-        'default_bt_xml_filename': default_bt_xml_filename,
+        'autostart': autostart}
-        'autostart': autostart,
-        'map_subscribe_transient_local': map_subscribe_transient_local}
 
     configured_params = RewrittenYaml(
             source_file=params_file,
@@ -62,84 +68,203 @@ def generate_launch_description():
             param_rewrites=param_substitutions,
             convert_types=True)
 
-    return LaunchDescription([
+    stdout_linebuf_envvar = SetEnvironmentVariable(
-        # Set env var to print messages to stdout immediately
+        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
-        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
 
-        DeclareLaunchArgument(
+    declare_namespace_cmd = DeclareLaunchArgument(
-            'namespace', default_value='',
+        'namespace',
-            description='Top-level namespace'),
+        default_value='',
+        description='Top-level namespace')
 
-        DeclareLaunchArgument(
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
-            'use_sim_time', default_value='false',
+        'use_sim_time',
-            description='Use simulation (Gazebo) clock if true'),
+        default_value='false',
+        description='Use simulation (Gazebo) clock if true')
 
-        DeclareLaunchArgument(
+    declare_params_file_cmd = DeclareLaunchArgument(
-            'autostart', default_value='true',
+        'params_file',
-            description='Automatically startup the nav2 stack'),
+        default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),
+        description='Full path to the ROS2 parameters file to use for all launched nodes')
 
-        DeclareLaunchArgument(
+    declare_autostart_cmd = DeclareLaunchArgument(
-            'params_file',
+        'autostart', default_value='true',
-            default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),
+        description='Automatically startup the nav2 stack')
-            description='Full path to the ROS2 parameters file to use'),
 
-        DeclareLaunchArgument(
+    declare_use_composition_cmd = DeclareLaunchArgument(
-            'default_bt_xml_filename',
+        'use_composition', default_value='False',
-            default_value=os.path.join(
+        description='Use composed bringup if True')
-                get_package_share_directory('nav2_bt_navigator'),
-                'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
-            description='Full path to the behavior tree xml file to use'),
 
-        DeclareLaunchArgument(
+    declare_container_name_cmd = DeclareLaunchArgument(
-            'map_subscribe_transient_local', default_value='false',
+        'container_name', default_value='nav2_container',
-            description='Whether to set the map subscriber QoS to transient local'),
+        description='the name of conatiner that nodes will load in if use composition')
 
-        Node(
+    declare_use_respawn_cmd = DeclareLaunchArgument(
-            package='nav2_controller',
+        'use_respawn', default_value='False',
-            executable='controller_server',
+        description='Whether to respawn if a node crashes. Applied when composition is disabled.')
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
 
-        Node(
+    declare_log_level_cmd = DeclareLaunchArgument(
-            package='nav2_planner',
+        'log_level', default_value='info',
-            executable='planner_server',
+        description='log level')
-            name='planner_server',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
 
-        Node(
+    load_nodes = GroupAction(
-            package='nav2_recoveries',
+        condition=IfCondition(PythonExpression(['not ', use_composition])),
-            executable='recoveries_server',
+        actions=[
-            name='recoveries_server',
+            Node(
-            output='screen',
+                package='nav2_controller',
-            parameters=[configured_params],
+                executable='controller_server',
-            remappings=remappings),
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
+            Node(
+                package='nav2_smoother',
+                executable='smoother_server',
+                name='smoother_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_planner',
+                executable='planner_server',
+                name='planner_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_behaviors',
+                executable='behavior_server',
+                name='behavior_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_bt_navigator',
+                executable='bt_navigator',
+                name='bt_navigator',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_waypoint_follower',
+                executable='waypoint_follower',
+                name='waypoint_follower',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_velocity_smoother',
+                executable='velocity_smoother',
+                name='velocity_smoother',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings +
+                        [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
+            Node(
+                package='nav2_lifecycle_manager',
+                executable='lifecycle_manager',
+                name='lifecycle_manager_navigation',
+                output='screen',
+                arguments=['--ros-args', '--log-level', log_level],
+                parameters=[{'use_sim_time': use_sim_time},
+                            {'autostart': autostart},
+                            {'node_names': lifecycle_nodes}]),
+        ]
+    )
 
-        Node(
+    load_composable_nodes = LoadComposableNodes(
-            package='nav2_bt_navigator',
+        condition=IfCondition(use_composition),
-            executable='bt_navigator',
+        target_container=container_name_full,
-            name='bt_navigator',
+        composable_node_descriptions=[
-            output='screen',
+            ComposableNode(
-            parameters=[configured_params],
+                package='nav2_controller',
-            remappings=remappings),
+                plugin='nav2_controller::ControllerServer',
+                name='controller_server',
+                parameters=[configured_params],
+                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
+            ComposableNode(
+                package='nav2_smoother',
+                plugin='nav2_smoother::SmootherServer',
+                name='smoother_server',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_planner',
+                plugin='nav2_planner::PlannerServer',
+                name='planner_server',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_behaviors',
+                plugin='behavior_server::BehaviorServer',
+                name='behavior_server',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_bt_navigator',
+                plugin='nav2_bt_navigator::BtNavigator',
+                name='bt_navigator',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_waypoint_follower',
+                plugin='nav2_waypoint_follower::WaypointFollower',
+                name='waypoint_follower',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_velocity_smoother',
+                plugin='nav2_velocity_smoother::VelocitySmoother',
+                name='velocity_smoother',
+                parameters=[configured_params],
+                remappings=remappings +
+                           [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
+            ComposableNode(
+                package='nav2_lifecycle_manager',
+                plugin='nav2_lifecycle_manager::LifecycleManager',
+                name='lifecycle_manager_navigation',
+                parameters=[{'use_sim_time': use_sim_time,
+                             'autostart': autostart,
+                             'node_names': lifecycle_nodes}]),
+        ],
+    )
 
-        Node(
+    # Create the launch description and populate
-            package='nav2_waypoint_follower',
+    ld = LaunchDescription()
-            executable='waypoint_follower',
-            name='waypoint_follower',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
 
-        Node(
+    # Set environment variables
-            package='nav2_lifecycle_manager',
+    ld.add_action(stdout_linebuf_envvar)
-            executable='lifecycle_manager',
-            name='lifecycle_manager_navigation',
-            output='screen',
-            parameters=[{'use_sim_time': use_sim_time},
-                        {'autostart': autostart},
-                        {'node_names': lifecycle_nodes}]),
 
-    ])
+    # Declare the launch options
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_params_file_cmd)
+    ld.add_action(declare_autostart_cmd)
+    ld.add_action(declare_use_composition_cmd)
+    ld.add_action(declare_container_name_cmd)
+    ld.add_action(declare_use_respawn_cmd)
+    ld.add_action(declare_log_level_cmd)
+    # Add the actions to launch all of the navigation nodes
+    ld.add_action(load_nodes)
+    ld.add_action(load_composable_nodes)
+
+    return ld