From 6c655928c1284eb0d7de32cba989f3ef6aba0fd7 Mon Sep 17 00:00:00 2001 From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com> Date: Wed, 22 Nov 2023 13:54:07 +0100 Subject: [PATCH] update --- config/nav2_params.yaml | 451 +--------------------------------------- 1 file changed, 7 insertions(+), 444 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index cca2037..d0f2cd4 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -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