mirror of
https://github.com/bjoernellens1/cps_loki_bringup.git
synced 2024-11-22 15:43:48 +00:00
Merge branch 'main' into imu
This commit is contained in:
commit
21cec73a2d
1
.gitignore
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1
.gitignore
vendored
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@ -0,0 +1 @@
|
|||||||
|
.vscode
|
22
.vscode/c_cpp_properties.json
vendored
22
.vscode/c_cpp_properties.json
vendored
@ -1,22 +0,0 @@
|
|||||||
{
|
|
||||||
"configurations": [
|
|
||||||
{
|
|
||||||
"browse": {
|
|
||||||
"databaseFilename": "${default}",
|
|
||||||
"limitSymbolsToIncludedHeaders": false
|
|
||||||
},
|
|
||||||
"includePath": [
|
|
||||||
"/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/odrive_hardware_interface/include/**",
|
|
||||||
"/opt/ros/humble/include/**",
|
|
||||||
"/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/src/odrive_ros2_control/odrive_hardware_interface/include/**",
|
|
||||||
"/usr/include/**"
|
|
||||||
],
|
|
||||||
"name": "ROS",
|
|
||||||
"intelliSenseMode": "gcc-x64",
|
|
||||||
"compilerPath": "/usr/bin/gcc",
|
|
||||||
"cStandard": "gnu11",
|
|
||||||
"cppStandard": "c++14"
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"version": 4
|
|
||||||
}
|
|
14
.vscode/settings.json
vendored
14
.vscode/settings.json
vendored
@ -1,14 +0,0 @@
|
|||||||
{
|
|
||||||
"python.autoComplete.extraPaths": [
|
|
||||||
"/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/rmp220_teleop/lib/python3.10/site-packages",
|
|
||||||
"/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/cam_opencv/lib/python3.10/site-packages",
|
|
||||||
"/opt/ros/humble/lib/python3.10/site-packages",
|
|
||||||
"/opt/ros/humble/local/lib/python3.10/dist-packages"
|
|
||||||
],
|
|
||||||
"python.analysis.extraPaths": [
|
|
||||||
"/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/rmp220_teleop/lib/python3.10/site-packages",
|
|
||||||
"/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/cam_opencv/lib/python3.10/site-packages",
|
|
||||||
"/opt/ros/humble/lib/python3.10/site-packages",
|
|
||||||
"/opt/ros/humble/local/lib/python3.10/dist-packages"
|
|
||||||
]
|
|
||||||
}
|
|
@ -1,3 +1,3 @@
|
|||||||
cps_loki_bringup
|
|
||||||
|
|
||||||
|
# cps_loki_bringup
|
||||||
This repo houses ROS2 bringup package for CPS Loki robot (small green one).
|
This repo houses ROS2 bringup package for CPS Loki robot (small green one).
|
||||||
|
@ -19,7 +19,7 @@ slam_toolbox:
|
|||||||
# if you'd like to immediately start continuing a map at a given pose
|
# if you'd like to immediately start continuing a map at a given pose
|
||||||
# or at the dock, but they are mutually exclusive, if pose is given
|
# or at the dock, but they are mutually exclusive, if pose is given
|
||||||
# will use pose
|
# will use pose
|
||||||
map_file_name: /home/bjorn/Documents/ros-projects/cps_bot_mini_ws/my_map_serial
|
#map_file_name: /home/bjorn/Documents/ros-projects/cps_bot_mini_ws/my_map_serial
|
||||||
# map_start_pose: [0.0, 0.0, 0.0]
|
# map_start_pose: [0.0, 0.0, 0.0]
|
||||||
map_start_at_dock: true
|
map_start_at_dock: true
|
||||||
|
|
||||||
|
348
config/nav2_params copy.yaml
Normal file
348
config/nav2_params copy.yaml
Normal file
@ -0,0 +1,348 @@
|
|||||||
|
amcl:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
alpha1: 0.2
|
||||||
|
alpha2: 0.2
|
||||||
|
alpha3: 0.2
|
||||||
|
alpha4: 0.2
|
||||||
|
alpha5: 0.2
|
||||||
|
base_frame_id: "base_footprint"
|
||||||
|
beam_skip_distance: 0.5
|
||||||
|
beam_skip_error_threshold: 0.9
|
||||||
|
beam_skip_threshold: 0.3
|
||||||
|
do_beamskip: false
|
||||||
|
global_frame_id: "map"
|
||||||
|
lambda_short: 0.1
|
||||||
|
laser_likelihood_max_dist: 2.0
|
||||||
|
laser_max_range: 100.0
|
||||||
|
laser_min_range: -1.0
|
||||||
|
laser_model_type: "likelihood_field"
|
||||||
|
max_beams: 60
|
||||||
|
max_particles: 2000
|
||||||
|
min_particles: 500
|
||||||
|
odom_frame_id: "odom"
|
||||||
|
pf_err: 0.05
|
||||||
|
pf_z: 0.99
|
||||||
|
recovery_alpha_fast: 0.0
|
||||||
|
recovery_alpha_slow: 0.0
|
||||||
|
resample_interval: 1
|
||||||
|
robot_model_type: "nav2_amcl::DifferentialMotionModel"
|
||||||
|
save_pose_rate: 0.5
|
||||||
|
sigma_hit: 0.2
|
||||||
|
tf_broadcast: true
|
||||||
|
transform_tolerance: 1.0
|
||||||
|
update_min_a: 0.2
|
||||||
|
update_min_d: 0.25
|
||||||
|
z_hit: 0.5
|
||||||
|
z_max: 0.05
|
||||||
|
z_rand: 0.5
|
||||||
|
z_short: 0.05
|
||||||
|
scan_topic: scan
|
||||||
|
|
||||||
|
bt_navigator:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
global_frame: map
|
||||||
|
robot_base_frame: base_link
|
||||||
|
odom_topic: /odom
|
||||||
|
bt_loop_duration: 10
|
||||||
|
default_server_timeout: 20
|
||||||
|
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
||||||
|
# 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_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_navigate_through_poses_rclcpp_node:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
|
||||||
|
bt_navigator_navigate_to_pose_rclcpp_node:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
|
||||||
|
controller_server:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
controller_frequency: 20.0
|
||||||
|
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_plugins: ["general_goal_checker"] # "precise_goal_checker"
|
||||||
|
controller_plugins: ["FollowPath"]
|
||||||
|
|
||||||
|
# Progress checker parameters
|
||||||
|
progress_checker:
|
||||||
|
plugin: "nav2_controller::SimpleProgressChecker"
|
||||||
|
required_movement_radius: 0.5
|
||||||
|
movement_time_allowance: 10.0
|
||||||
|
# Goal checker parameters
|
||||||
|
#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
|
||||||
|
# DWB parameters
|
||||||
|
FollowPath:
|
||||||
|
plugin: "dwb_core::DWBLocalPlanner"
|
||||||
|
debug_trajectory_details: True
|
||||||
|
min_vel_x: 0.0
|
||||||
|
min_vel_y: 0.0
|
||||||
|
max_vel_x: 0.26
|
||||||
|
max_vel_y: 0.0
|
||||||
|
max_vel_theta: 1.0
|
||||||
|
min_speed_xy: 0.0
|
||||||
|
max_speed_xy: 0.26
|
||||||
|
min_speed_theta: 0.0
|
||||||
|
# Add high threshold velocity for turtlebot 3 issue.
|
||||||
|
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
|
||||||
|
acc_lim_x: 2.5
|
||||||
|
acc_lim_y: 0.0
|
||||||
|
acc_lim_theta: 3.2
|
||||||
|
decel_lim_x: -2.5
|
||||||
|
decel_lim_y: 0.0
|
||||||
|
decel_lim_theta: -3.2
|
||||||
|
vx_samples: 20
|
||||||
|
vy_samples: 5
|
||||||
|
vtheta_samples: 20
|
||||||
|
sim_time: 1.7
|
||||||
|
linear_granularity: 0.05
|
||||||
|
angular_granularity: 0.025
|
||||||
|
transform_tolerance: 0.2
|
||||||
|
xy_goal_tolerance: 0.25
|
||||||
|
trans_stopped_velocity: 0.25
|
||||||
|
short_circuit_trajectory_evaluation: True
|
||||||
|
stateful: True
|
||||||
|
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
|
||||||
|
BaseObstacle.scale: 0.02
|
||||||
|
PathAlign.scale: 32.0
|
||||||
|
PathAlign.forward_point_distance: 0.1
|
||||||
|
GoalAlign.scale: 24.0
|
||||||
|
GoalAlign.forward_point_distance: 0.1
|
||||||
|
PathDist.scale: 32.0
|
||||||
|
GoalDist.scale: 24.0
|
||||||
|
RotateToGoal.scale: 32.0
|
||||||
|
RotateToGoal.slowing_factor: 5.0
|
||||||
|
RotateToGoal.lookahead_time: -1.0
|
||||||
|
|
||||||
|
local_costmap:
|
||||||
|
local_costmap:
|
||||||
|
ros__parameters:
|
||||||
|
update_frequency: 5.0
|
||||||
|
publish_frequency: 2.0
|
||||||
|
global_frame: odom
|
||||||
|
robot_base_frame: base_link
|
||||||
|
use_sim_time: True
|
||||||
|
rolling_window: true
|
||||||
|
width: 3
|
||||||
|
height: 3
|
||||||
|
resolution: 0.05
|
||||||
|
robot_radius: 0.22
|
||||||
|
plugins: ["voxel_layer", "inflation_layer"]
|
||||||
|
inflation_layer:
|
||||||
|
plugin: "nav2_costmap_2d::InflationLayer"
|
||||||
|
cost_scaling_factor: 3.0
|
||||||
|
inflation_radius: 0.55
|
||||||
|
voxel_layer:
|
||||||
|
plugin: "nav2_costmap_2d::VoxelLayer"
|
||||||
|
enabled: True
|
||||||
|
publish_voxel_map: True
|
||||||
|
origin_z: 0.0
|
||||||
|
z_resolution: 0.05
|
||||||
|
z_voxels: 16
|
||||||
|
max_obstacle_height: 2.0
|
||||||
|
mark_threshold: 0
|
||||||
|
observation_sources: scan
|
||||||
|
scan:
|
||||||
|
topic: /scan
|
||||||
|
max_obstacle_height: 2.0
|
||||||
|
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
|
||||||
|
|
||||||
|
global_costmap:
|
||||||
|
global_costmap:
|
||||||
|
ros__parameters:
|
||||||
|
update_frequency: 1.0
|
||||||
|
publish_frequency: 1.0
|
||||||
|
global_frame: map
|
||||||
|
robot_base_frame: base_link
|
||||||
|
use_sim_time: True
|
||||||
|
robot_radius: 0.22
|
||||||
|
resolution: 0.05
|
||||||
|
track_unknown_space: true
|
||||||
|
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||||
|
obstacle_layer:
|
||||||
|
plugin: "nav2_costmap_2d::ObstacleLayer"
|
||||||
|
enabled: True
|
||||||
|
observation_sources: scan
|
||||||
|
scan:
|
||||||
|
topic: /scan
|
||||||
|
max_obstacle_height: 2.0
|
||||||
|
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
|
||||||
|
inflation_layer:
|
||||||
|
plugin: "nav2_costmap_2d::InflationLayer"
|
||||||
|
cost_scaling_factor: 3.0
|
||||||
|
inflation_radius: 0.55
|
||||||
|
always_send_full_costmap: True
|
||||||
|
|
||||||
|
map_server:
|
||||||
|
ros__parameters:
|
||||||
|
use_sim_time: True
|
||||||
|
# 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: 5.0
|
||||||
|
free_thresh_default: 0.25
|
||||||
|
occupied_thresh_default: 0.65
|
||||||
|
map_subscribe_transient_local: True
|
||||||
|
|
||||||
|
planner_server:
|
||||||
|
ros__parameters:
|
||||||
|
expected_planner_frequency: 20.0
|
||||||
|
use_sim_time: True
|
||||||
|
planner_plugins: ["GridBased"]
|
||||||
|
GridBased:
|
||||||
|
plugin: "nav2_navfn_planner/NavfnPlanner"
|
||||||
|
tolerance: 0.5
|
||||||
|
use_astar: false
|
||||||
|
allow_unknown: true
|
||||||
|
|
||||||
|
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
|
||||||
|
|
||||||
|
behavior_server:
|
||||||
|
ros__parameters:
|
||||||
|
costmap_topic: local_costmap/costmap_raw
|
||||||
|
footprint_topic: local_costmap/published_footprint
|
||||||
|
cycle_frequency: 10.0
|
||||||
|
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
|
||||||
|
spin:
|
||||||
|
plugin: "nav2_behaviors/Spin"
|
||||||
|
backup:
|
||||||
|
plugin: "nav2_behaviors/BackUp"
|
||||||
|
drive_on_heading:
|
||||||
|
plugin: "nav2_behaviors/DriveOnHeading"
|
||||||
|
wait:
|
||||||
|
plugin: "nav2_behaviors/Wait"
|
||||||
|
assisted_teleop:
|
||||||
|
plugin: "nav2_behaviors/AssistedTeleop"
|
||||||
|
global_frame: odom
|
||||||
|
robot_base_frame: base_link
|
||||||
|
transform_tolerance: 0.1
|
||||||
|
use_sim_time: true
|
||||||
|
simulate_ahead_time: 2.0
|
||||||
|
max_rotational_vel: 1.0
|
||||||
|
min_rotational_vel: 0.4
|
||||||
|
rotational_acc_lim: 3.2
|
||||||
|
|
||||||
|
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
|
@ -35,7 +35,7 @@ slam_toolbox:
|
|||||||
transform_timeout: 0.2
|
transform_timeout: 0.2
|
||||||
tf_buffer_duration: 30.
|
tf_buffer_duration: 30.
|
||||||
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
|
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
|
||||||
enable_interactive_mode: true
|
enable_interactive_mode: false
|
||||||
|
|
||||||
# General Parameters
|
# General Parameters
|
||||||
use_scan_matching: true
|
use_scan_matching: true
|
||||||
@ -184,76 +184,6 @@ bt_navigator_navigate_to_pose_rclcpp_node:
|
|||||||
ros__parameters:
|
ros__parameters:
|
||||||
use_sim_time: True
|
use_sim_time: True
|
||||||
|
|
||||||
# controller_server:
|
|
||||||
# ros__parameters:
|
|
||||||
# use_sim_time: True
|
|
||||||
# controller_frequency: 20.0
|
|
||||||
# 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_plugins: ["general_goal_checker"] # "precise_goal_checker"
|
|
||||||
# controller_plugins: ["FollowPath"]
|
|
||||||
|
|
||||||
# # Progress checker parameters
|
|
||||||
# progress_checker:
|
|
||||||
# plugin: "nav2_controller::SimpleProgressChecker"
|
|
||||||
# required_movement_radius: 0.5
|
|
||||||
# movement_time_allowance: 10.0
|
|
||||||
# # Goal checker parameters
|
|
||||||
# #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
|
|
||||||
# # DWB parameters
|
|
||||||
# FollowPath:
|
|
||||||
# plugin: "dwb_core::DWBLocalPlanner"
|
|
||||||
# debug_trajectory_details: True
|
|
||||||
# min_vel_x: -0.1
|
|
||||||
# min_vel_y: 0.0
|
|
||||||
# max_vel_x: 0.26
|
|
||||||
# max_vel_y: 0.0
|
|
||||||
# max_vel_theta: 1.0
|
|
||||||
# min_speed_xy: 0.0
|
|
||||||
# max_speed_xy: 0.26
|
|
||||||
# min_speed_theta: 0.0
|
|
||||||
# # Add high threshold velocity for turtlebot 3 issue.
|
|
||||||
# # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
|
|
||||||
# acc_lim_x: 2.5
|
|
||||||
# acc_lim_y: 0.0
|
|
||||||
# acc_lim_theta: 3.2
|
|
||||||
# decel_lim_x: -2.5
|
|
||||||
# decel_lim_y: 0.0
|
|
||||||
# decel_lim_theta: -3.2
|
|
||||||
# vx_samples: 20
|
|
||||||
# vy_samples: 5
|
|
||||||
# vtheta_samples: 20
|
|
||||||
# sim_time: 1.7
|
|
||||||
# linear_granularity: 0.05
|
|
||||||
# angular_granularity: 0.025
|
|
||||||
# transform_tolerance: 0.2
|
|
||||||
# xy_goal_tolerance: 0.25
|
|
||||||
# trans_stopped_velocity: 0.25
|
|
||||||
# short_circuit_trajectory_evaluation: True
|
|
||||||
# stateful: True
|
|
||||||
# critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "ObstacleFootprint", "PreferForward"]
|
|
||||||
# BaseObstacle.scale: 0.02
|
|
||||||
# PathAlign.scale: 32.0
|
|
||||||
# PathAlign.forward_point_distance: 0.1
|
|
||||||
# GoalAlign.scale: 24.0
|
|
||||||
# GoalAlign.forward_point_distance: 0.1
|
|
||||||
# PathDist.scale: 32.0
|
|
||||||
# GoalDist.scale: 24.0
|
|
||||||
# RotateToGoal.scale: 32.0
|
|
||||||
# RotateToGoal.slowing_factor: 5.0
|
|
||||||
# RotateToGoal.lookahead_time: -1.0
|
|
||||||
controller_server:
|
controller_server:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
use_sim_time: True
|
use_sim_time: True
|
||||||
@ -301,7 +231,6 @@ controller_server:
|
|||||||
max_robot_pose_search_dist: 10.0
|
max_robot_pose_search_dist: 10.0
|
||||||
use_interpolation: true # was false
|
use_interpolation: true # was false
|
||||||
|
|
||||||
|
|
||||||
local_costmap:
|
local_costmap:
|
||||||
local_costmap:
|
local_costmap:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
@ -315,7 +244,7 @@ local_costmap:
|
|||||||
height: 3
|
height: 3
|
||||||
resolution: 0.05
|
resolution: 0.05
|
||||||
#robot_radius: 0.22
|
#robot_radius: 0.22
|
||||||
footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]"
|
footprint: "[ [0.065, 0.160], [0.065, -0.160], [-0.28, -0.13], [-0.28, 0.13] ]"
|
||||||
plugins: ["voxel_layer", "inflation_layer"]
|
plugins: ["voxel_layer", "inflation_layer"]
|
||||||
inflation_layer:
|
inflation_layer:
|
||||||
plugin: "nav2_costmap_2d::InflationLayer"
|
plugin: "nav2_costmap_2d::InflationLayer"
|
||||||
@ -330,8 +259,8 @@ local_costmap:
|
|||||||
z_voxels: 16
|
z_voxels: 16
|
||||||
max_obstacle_height: 2.0
|
max_obstacle_height: 2.0
|
||||||
mark_threshold: 0
|
mark_threshold: 0
|
||||||
observation_sources: scan
|
observation_sources: lslidar
|
||||||
scan:
|
lslidar:
|
||||||
topic: scan_filtered
|
topic: scan_filtered
|
||||||
max_obstacle_height: 2.0
|
max_obstacle_height: 2.0
|
||||||
clearing: True
|
clearing: True
|
||||||
@ -355,15 +284,15 @@ global_costmap:
|
|||||||
robot_base_frame: base_link
|
robot_base_frame: base_link
|
||||||
use_sim_time: True
|
use_sim_time: True
|
||||||
#robot_radius: 0.22
|
#robot_radius: 0.22
|
||||||
footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]"
|
footprint: "[ [0.065, 0.160], [0.065, -0.160], [-0.28, -0.13], [-0.28, 0.13] ]"
|
||||||
resolution: 0.05
|
resolution: 0.05
|
||||||
track_unknown_space: true
|
track_unknown_space: true
|
||||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||||
obstacle_layer:
|
obstacle_layer:
|
||||||
plugin: "nav2_costmap_2d::ObstacleLayer"
|
plugin: "nav2_costmap_2d::ObstacleLayer"
|
||||||
enabled: True
|
enabled: True
|
||||||
observation_sources: scan
|
observation_sources: lslidar
|
||||||
scan:
|
lslidar:
|
||||||
topic: scan_filtered
|
topic: scan_filtered
|
||||||
max_obstacle_height: 2.0
|
max_obstacle_height: 2.0
|
||||||
clearing: True
|
clearing: True
|
||||||
|
@ -13,6 +13,7 @@
|
|||||||
<test_depend>python3-pytest</test_depend>
|
<test_depend>python3-pytest</test_depend>
|
||||||
|
|
||||||
<exec_depend>odrive_demo_description</exec_depend>
|
<exec_depend>odrive_demo_description</exec_depend>
|
||||||
|
<exec_depend>teleop_twist_joy</exec_Depend>
|
||||||
<exec_depend>nav2_bringup</exec_depend>
|
<exec_depend>nav2_bringup</exec_depend>
|
||||||
<exec_depend>navigation2</exec_depend>
|
<exec_depend>navigation2</exec_depend>
|
||||||
<exec_depend>ros2_control</exec_depend>
|
<exec_depend>ros2_control</exec_depend>
|
||||||
|
Loading…
Reference in New Issue
Block a user