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config/nav2_params.yaml
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@ -1,430 +1,3 @@
# slam_toolbox:
# ros__parameters:
# # Plugin params
# solver_plugin: solver_plugins::CeresSolver
# ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
# ceres_preconditioner: SCHUR_JACOBI
# ceres_trust_strategy: LEVENBERG_MARQUARDT
# ceres_dogleg_type: TRADITIONAL_DOGLEG
# ceres_loss_function: None
# # ROS Parameters
# odom_frame: odom
# map_frame: map
# base_frame: base_footprint
# scan_topic: /scan
# #scan_topic: /scan_filtered
# use_map_saver: true
# mode: mapping #localization
# # 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
# # will use pose
# #map_file_name: test_steve
# #map_start_pose: [0.0, 0.0, 0.0]
# #map_start_at_dock: true
# debug_logging: false
# throttle_scans: 1
# transform_publish_period: 0.02 #if 0 never publishes odometry
# map_update_interval: 5.0
# resolution: 0.05
# max_laser_range: 20.0 #for rastering images
# minimum_time_interval: 0.5
# transform_timeout: 0.2
# tf_buffer_duration: 30.
# stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
# enable_interactive_mode: true
# # General Parameters
# use_scan_matching: true
# use_scan_barycenter: true
# minimum_travel_distance: 0.5
# minimum_travel_heading: 0.5
# scan_buffer_size: 10
# scan_buffer_maximum_scan_distance: 10.0
# link_match_minimum_response_fine: 0.1
# link_scan_maximum_distance: 1.5
# loop_search_maximum_distance: 3.0
# do_loop_closing: true
# loop_match_minimum_chain_size: 10
# loop_match_maximum_variance_coarse: 3.0
# loop_match_minimum_response_coarse: 0.35
# loop_match_minimum_response_fine: 0.45
# # Correlation Parameters - Correlation Parameters
# correlation_search_space_dimension: 0.5
# correlation_search_space_resolution: 0.01
# correlation_search_space_smear_deviation: 0.1
# # Correlation Parameters - Loop Closure Parameters
# loop_search_space_dimension: 8.0
# loop_search_space_resolution: 0.05
# loop_search_space_smear_deviation: 0.03
# # Scan Matcher Parameters
# distance_variance_penalty: 0.5
# angle_variance_penalty: 1.0
# fine_search_angle_offset: 0.00349
# coarse_search_angle_offset: 0.349
# coarse_angle_resolution: 0.0349
# minimum_angle_penalty: 0.9
# minimum_distance_penalty: 0.5
# use_response_expansion: true
# 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: /odometry/filtered
# 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: "/odometry/filtered"
# odom_duration: 0.1
# deadband_velocity: [0.0, 0.0, 0.0]
# velocity_timeout: 1.0
slam_toolbox:
ros__parameters:
@ -440,7 +13,7 @@ slam_toolbox:
odom_frame: odom
map_frame: map
base_frame: base_footprint
scan_topic: /scan
scan_topic: scan
#scan_topic: /scan_filtered
use_map_saver: true
mode: mapping #localization
@ -547,7 +120,7 @@ bt_navigator:
use_sim_time: True
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
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:
@ -742,7 +315,7 @@ local_costmap:
height: 3
resolution: 0.05
#robot_radius: 0.22
footprint: "[ [0.18, 0.200], [0.18, -0.200], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]"
footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]"
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
@ -759,7 +332,7 @@ local_costmap:
mark_threshold: 0
observation_sources: scan
scan:
topic: /scan
topic: scan
max_obstacle_height: 2.0
clearing: True
marking: True
@ -782,7 +355,7 @@ global_costmap:
robot_base_frame: base_link
use_sim_time: True
#robot_radius: 0.22
footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon
footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]"
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
@ -791,7 +364,7 @@ global_costmap:
enabled: True
observation_sources: scan
scan:
topic: /scan
topic: scan
max_obstacle_height: 2.0
clearing: True
marking: True
@ -824,16 +397,6 @@ map_saver:
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
planner_server:
ros__parameters:
planner_plugins: ["GridBased"]
@ -916,7 +479,7 @@ velocity_smoother:
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_topic: "odom"
odom_duration: 0.1 # was 0.1
deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0