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config/nav2_params copy.yaml
Normal file
348
config/nav2_params copy.yaml
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amcl:
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ros__parameters:
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use_sim_time: True
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alpha1: 0.2
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alpha2: 0.2
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alpha3: 0.2
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alpha4: 0.2
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alpha5: 0.2
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base_frame_id: "base_footprint"
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beam_skip_distance: 0.5
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beam_skip_error_threshold: 0.9
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beam_skip_threshold: 0.3
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do_beamskip: false
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global_frame_id: "map"
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lambda_short: 0.1
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laser_likelihood_max_dist: 2.0
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laser_max_range: 100.0
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laser_min_range: -1.0
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laser_model_type: "likelihood_field"
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max_beams: 60
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max_particles: 2000
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min_particles: 500
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odom_frame_id: "odom"
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pf_err: 0.05
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pf_z: 0.99
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recovery_alpha_fast: 0.0
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recovery_alpha_slow: 0.0
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resample_interval: 1
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robot_model_type: "nav2_amcl::DifferentialMotionModel"
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save_pose_rate: 0.5
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sigma_hit: 0.2
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tf_broadcast: true
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transform_tolerance: 1.0
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update_min_a: 0.2
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update_min_d: 0.25
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z_hit: 0.5
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z_max: 0.05
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z_rand: 0.5
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z_short: 0.05
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scan_topic: scan
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bt_navigator:
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ros__parameters:
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use_sim_time: True
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global_frame: map
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robot_base_frame: base_link
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odom_topic: /odom
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bt_loop_duration: 10
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default_server_timeout: 20
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# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
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# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
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# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
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# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
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plugin_lib_names:
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- nav2_compute_path_to_pose_action_bt_node
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- nav2_compute_path_through_poses_action_bt_node
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- nav2_smooth_path_action_bt_node
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- nav2_follow_path_action_bt_node
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- nav2_spin_action_bt_node
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- nav2_wait_action_bt_node
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- nav2_assisted_teleop_action_bt_node
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- nav2_back_up_action_bt_node
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- nav2_drive_on_heading_bt_node
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- nav2_clear_costmap_service_bt_node
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- nav2_is_stuck_condition_bt_node
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- nav2_goal_reached_condition_bt_node
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- nav2_goal_updated_condition_bt_node
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- nav2_globally_updated_goal_condition_bt_node
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- nav2_is_path_valid_condition_bt_node
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- nav2_initial_pose_received_condition_bt_node
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- nav2_reinitialize_global_localization_service_bt_node
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- nav2_rate_controller_bt_node
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- nav2_distance_controller_bt_node
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- nav2_speed_controller_bt_node
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- nav2_truncate_path_action_bt_node
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- nav2_truncate_path_local_action_bt_node
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- nav2_goal_updater_node_bt_node
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- nav2_recovery_node_bt_node
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- nav2_pipeline_sequence_bt_node
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- nav2_round_robin_node_bt_node
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- nav2_transform_available_condition_bt_node
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- nav2_time_expired_condition_bt_node
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- nav2_path_expiring_timer_condition
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- nav2_distance_traveled_condition_bt_node
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- nav2_single_trigger_bt_node
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- nav2_goal_updated_controller_bt_node
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- nav2_is_battery_low_condition_bt_node
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- nav2_navigate_through_poses_action_bt_node
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- nav2_navigate_to_pose_action_bt_node
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- nav2_remove_passed_goals_action_bt_node
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- nav2_planner_selector_bt_node
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- nav2_controller_selector_bt_node
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- nav2_goal_checker_selector_bt_node
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- nav2_controller_cancel_bt_node
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- nav2_path_longer_on_approach_bt_node
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- nav2_wait_cancel_bt_node
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- nav2_spin_cancel_bt_node
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- nav2_back_up_cancel_bt_node
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- nav2_assisted_teleop_cancel_bt_node
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- nav2_drive_on_heading_cancel_bt_node
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bt_navigator_navigate_through_poses_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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bt_navigator_navigate_to_pose_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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controller_server:
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ros__parameters:
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use_sim_time: True
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controller_frequency: 20.0
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min_x_velocity_threshold: 0.001
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min_y_velocity_threshold: 0.5
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min_theta_velocity_threshold: 0.001
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failure_tolerance: 0.3
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progress_checker_plugin: "progress_checker"
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goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
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controller_plugins: ["FollowPath"]
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# Progress checker parameters
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progress_checker:
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plugin: "nav2_controller::SimpleProgressChecker"
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required_movement_radius: 0.5
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movement_time_allowance: 10.0
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# Goal checker parameters
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#precise_goal_checker:
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# plugin: "nav2_controller::SimpleGoalChecker"
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# xy_goal_tolerance: 0.25
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# yaw_goal_tolerance: 0.25
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# stateful: True
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general_goal_checker:
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stateful: True
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plugin: "nav2_controller::SimpleGoalChecker"
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xy_goal_tolerance: 0.25
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yaw_goal_tolerance: 0.25
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# DWB parameters
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FollowPath:
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plugin: "dwb_core::DWBLocalPlanner"
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debug_trajectory_details: True
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min_vel_x: 0.0
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min_vel_y: 0.0
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max_vel_x: 0.26
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max_vel_y: 0.0
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max_vel_theta: 1.0
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min_speed_xy: 0.0
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max_speed_xy: 0.26
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min_speed_theta: 0.0
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# Add high threshold velocity for turtlebot 3 issue.
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# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
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acc_lim_x: 2.5
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acc_lim_y: 0.0
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acc_lim_theta: 3.2
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decel_lim_x: -2.5
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decel_lim_y: 0.0
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decel_lim_theta: -3.2
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vx_samples: 20
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vy_samples: 5
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vtheta_samples: 20
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sim_time: 1.7
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linear_granularity: 0.05
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angular_granularity: 0.025
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transform_tolerance: 0.2
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xy_goal_tolerance: 0.25
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trans_stopped_velocity: 0.25
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short_circuit_trajectory_evaluation: True
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stateful: True
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critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
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BaseObstacle.scale: 0.02
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PathAlign.scale: 32.0
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PathAlign.forward_point_distance: 0.1
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GoalAlign.scale: 24.0
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GoalAlign.forward_point_distance: 0.1
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PathDist.scale: 32.0
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GoalDist.scale: 24.0
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RotateToGoal.scale: 32.0
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RotateToGoal.slowing_factor: 5.0
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RotateToGoal.lookahead_time: -1.0
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local_costmap:
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local_costmap:
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ros__parameters:
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update_frequency: 5.0
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publish_frequency: 2.0
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global_frame: odom
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robot_base_frame: base_link
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use_sim_time: True
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rolling_window: true
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width: 3
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height: 3
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resolution: 0.05
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robot_radius: 0.22
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plugins: ["voxel_layer", "inflation_layer"]
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 3.0
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inflation_radius: 0.55
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voxel_layer:
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plugin: "nav2_costmap_2d::VoxelLayer"
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enabled: True
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publish_voxel_map: True
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origin_z: 0.0
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z_resolution: 0.05
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z_voxels: 16
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max_obstacle_height: 2.0
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mark_threshold: 0
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: "LaserScan"
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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static_layer:
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plugin: "nav2_costmap_2d::StaticLayer"
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map_subscribe_transient_local: True
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always_send_full_costmap: True
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global_costmap:
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global_costmap:
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ros__parameters:
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update_frequency: 1.0
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publish_frequency: 1.0
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global_frame: map
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robot_base_frame: base_link
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use_sim_time: True
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robot_radius: 0.22
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resolution: 0.05
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track_unknown_space: true
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plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
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obstacle_layer:
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plugin: "nav2_costmap_2d::ObstacleLayer"
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enabled: True
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: "LaserScan"
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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static_layer:
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plugin: "nav2_costmap_2d::StaticLayer"
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map_subscribe_transient_local: True
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 3.0
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inflation_radius: 0.55
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always_send_full_costmap: True
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map_server:
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ros__parameters:
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use_sim_time: True
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# Overridden in launch by the "map" launch configuration or provided default value.
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# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
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yaml_filename: ""
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map_saver:
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ros__parameters:
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use_sim_time: True
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save_map_timeout: 5.0
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free_thresh_default: 0.25
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occupied_thresh_default: 0.65
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map_subscribe_transient_local: True
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planner_server:
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ros__parameters:
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expected_planner_frequency: 20.0
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use_sim_time: True
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planner_plugins: ["GridBased"]
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GridBased:
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plugin: "nav2_navfn_planner/NavfnPlanner"
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tolerance: 0.5
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use_astar: false
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allow_unknown: true
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smoother_server:
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ros__parameters:
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use_sim_time: True
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smoother_plugins: ["simple_smoother"]
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simple_smoother:
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plugin: "nav2_smoother::SimpleSmoother"
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tolerance: 1.0e-10
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max_its: 1000
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do_refinement: True
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behavior_server:
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ros__parameters:
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costmap_topic: local_costmap/costmap_raw
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footprint_topic: local_costmap/published_footprint
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cycle_frequency: 10.0
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behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
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spin:
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plugin: "nav2_behaviors/Spin"
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backup:
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plugin: "nav2_behaviors/BackUp"
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drive_on_heading:
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plugin: "nav2_behaviors/DriveOnHeading"
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wait:
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plugin: "nav2_behaviors/Wait"
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assisted_teleop:
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plugin: "nav2_behaviors/AssistedTeleop"
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global_frame: odom
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robot_base_frame: base_link
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transform_tolerance: 0.1
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use_sim_time: true
|
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simulate_ahead_time: 2.0
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max_rotational_vel: 1.0
|
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min_rotational_vel: 0.4
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rotational_acc_lim: 3.2
|
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robot_state_publisher:
|
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ros__parameters:
|
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use_sim_time: True
|
||||||
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waypoint_follower:
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ros__parameters:
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||||||
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use_sim_time: True
|
||||||
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loop_rate: 20
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stop_on_failure: false
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waypoint_task_executor_plugin: "wait_at_waypoint"
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wait_at_waypoint:
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plugin: "nav2_waypoint_follower::WaitAtWaypoint"
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enabled: True
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waypoint_pause_duration: 200
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velocity_smoother:
|
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ros__parameters:
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||||||
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use_sim_time: True
|
||||||
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smoothing_frequency: 20.0
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scale_velocities: False
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feedback: "OPEN_LOOP"
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max_velocity: [0.26, 0.0, 1.0]
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min_velocity: [-0.26, 0.0, -1.0]
|
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max_accel: [2.5, 0.0, 3.2]
|
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max_decel: [-2.5, 0.0, -3.2]
|
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odom_topic: "odom"
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||||||
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odom_duration: 0.1
|
||||||
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deadband_velocity: [0.0, 0.0, 0.0]
|
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velocity_timeout: 1.0
|
||||||
@ -1,3 +1,79 @@
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slam_toolbox:
|
||||||
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ros__parameters:
|
||||||
|
|
||||||
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# Plugin params
|
||||||
|
solver_plugin: solver_plugins::CeresSolver
|
||||||
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ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
|
||||||
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ceres_preconditioner: SCHUR_JACOBI
|
||||||
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ceres_trust_strategy: LEVENBERG_MARQUARDT
|
||||||
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ceres_dogleg_type: TRADITIONAL_DOGLEG
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||||||
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ceres_loss_function: None
|
||||||
|
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||||||
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# 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:
|
amcl:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
use_sim_time: True
|
use_sim_time: True
|
||||||
@ -14,7 +90,7 @@ amcl:
|
|||||||
global_frame_id: "map"
|
global_frame_id: "map"
|
||||||
lambda_short: 0.1
|
lambda_short: 0.1
|
||||||
laser_likelihood_max_dist: 2.0
|
laser_likelihood_max_dist: 2.0
|
||||||
laser_max_range: 100.0
|
laser_max_range: 7.0 #was 100.0
|
||||||
laser_min_range: -1.0
|
laser_min_range: -1.0
|
||||||
laser_model_type: "likelihood_field"
|
laser_model_type: "likelihood_field"
|
||||||
max_beams: 60
|
max_beams: 60
|
||||||
@ -37,14 +113,14 @@ amcl:
|
|||||||
z_max: 0.05
|
z_max: 0.05
|
||||||
z_rand: 0.5
|
z_rand: 0.5
|
||||||
z_short: 0.05
|
z_short: 0.05
|
||||||
scan_topic: scan
|
scan_topic: scan_filtered
|
||||||
|
|
||||||
bt_navigator:
|
bt_navigator:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
use_sim_time: True
|
use_sim_time: True
|
||||||
global_frame: map
|
global_frame: map
|
||||||
robot_base_frame: base_link
|
robot_base_frame: base_link
|
||||||
odom_topic: /odom
|
odom_topic: /odometry/filtered
|
||||||
bt_loop_duration: 10
|
bt_loop_duration: 10
|
||||||
default_server_timeout: 20
|
default_server_timeout: 20
|
||||||
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
||||||
@ -52,52 +128,53 @@ bt_navigator:
|
|||||||
# nav2_bt_navigator/navigate_through_poses_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.
|
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
|
||||||
plugin_lib_names:
|
plugin_lib_names:
|
||||||
- nav2_compute_path_to_pose_action_bt_node
|
- nav2_compute_path_to_pose_action_bt_node
|
||||||
- nav2_compute_path_through_poses_action_bt_node
|
- nav2_compute_path_through_poses_action_bt_node
|
||||||
- nav2_smooth_path_action_bt_node
|
- nav2_smooth_path_action_bt_node
|
||||||
- nav2_follow_path_action_bt_node
|
- nav2_follow_path_action_bt_node
|
||||||
- nav2_spin_action_bt_node
|
- nav2_spin_action_bt_node
|
||||||
- nav2_wait_action_bt_node
|
- nav2_wait_action_bt_node
|
||||||
- nav2_assisted_teleop_action_bt_node
|
- nav2_assisted_teleop_action_bt_node
|
||||||
- nav2_back_up_action_bt_node
|
- nav2_back_up_action_bt_node
|
||||||
- nav2_drive_on_heading_bt_node
|
- nav2_drive_on_heading_bt_node
|
||||||
- nav2_clear_costmap_service_bt_node
|
- nav2_clear_costmap_service_bt_node
|
||||||
- nav2_is_stuck_condition_bt_node
|
- nav2_is_stuck_condition_bt_node
|
||||||
- nav2_goal_reached_condition_bt_node
|
- nav2_goal_reached_condition_bt_node
|
||||||
- nav2_goal_updated_condition_bt_node
|
- nav2_goal_updated_condition_bt_node
|
||||||
- nav2_globally_updated_goal_condition_bt_node
|
- nav2_globally_updated_goal_condition_bt_node
|
||||||
- nav2_is_path_valid_condition_bt_node
|
- nav2_is_path_valid_condition_bt_node
|
||||||
- nav2_initial_pose_received_condition_bt_node
|
- nav2_initial_pose_received_condition_bt_node
|
||||||
- nav2_reinitialize_global_localization_service_bt_node
|
- nav2_reinitialize_global_localization_service_bt_node
|
||||||
- nav2_rate_controller_bt_node
|
- nav2_rate_controller_bt_node
|
||||||
- nav2_distance_controller_bt_node
|
- nav2_distance_controller_bt_node
|
||||||
- nav2_speed_controller_bt_node
|
- nav2_speed_controller_bt_node
|
||||||
- nav2_truncate_path_action_bt_node
|
- nav2_truncate_path_action_bt_node
|
||||||
- nav2_truncate_path_local_action_bt_node
|
- nav2_truncate_path_local_action_bt_node
|
||||||
- nav2_goal_updater_node_bt_node
|
- nav2_goal_updater_node_bt_node
|
||||||
- nav2_recovery_node_bt_node
|
- nav2_recovery_node_bt_node
|
||||||
- nav2_pipeline_sequence_bt_node
|
- nav2_pipeline_sequence_bt_node
|
||||||
- nav2_round_robin_node_bt_node
|
- nav2_round_robin_node_bt_node
|
||||||
- nav2_transform_available_condition_bt_node
|
- nav2_transform_available_condition_bt_node
|
||||||
- nav2_time_expired_condition_bt_node
|
- nav2_time_expired_condition_bt_node
|
||||||
- nav2_path_expiring_timer_condition
|
- nav2_path_expiring_timer_condition
|
||||||
- nav2_distance_traveled_condition_bt_node
|
- nav2_distance_traveled_condition_bt_node
|
||||||
- nav2_single_trigger_bt_node
|
- nav2_single_trigger_bt_node
|
||||||
- nav2_goal_updated_controller_bt_node
|
- nav2_goal_updated_controller_bt_node
|
||||||
- nav2_is_battery_low_condition_bt_node
|
- nav2_is_battery_low_condition_bt_node
|
||||||
- nav2_navigate_through_poses_action_bt_node
|
- nav2_navigate_through_poses_action_bt_node
|
||||||
- nav2_navigate_to_pose_action_bt_node
|
- nav2_navigate_to_pose_action_bt_node
|
||||||
- nav2_remove_passed_goals_action_bt_node
|
- nav2_remove_passed_goals_action_bt_node
|
||||||
- nav2_planner_selector_bt_node
|
- nav2_planner_selector_bt_node
|
||||||
- nav2_controller_selector_bt_node
|
- nav2_controller_selector_bt_node
|
||||||
- nav2_goal_checker_selector_bt_node
|
- nav2_goal_checker_selector_bt_node
|
||||||
- nav2_controller_cancel_bt_node
|
- nav2_controller_cancel_bt_node
|
||||||
- nav2_path_longer_on_approach_bt_node
|
- nav2_path_longer_on_approach_bt_node
|
||||||
- nav2_wait_cancel_bt_node
|
- nav2_wait_cancel_bt_node
|
||||||
- nav2_spin_cancel_bt_node
|
- nav2_spin_cancel_bt_node
|
||||||
- nav2_back_up_cancel_bt_node
|
- nav2_back_up_cancel_bt_node
|
||||||
- nav2_assisted_teleop_cancel_bt_node
|
- nav2_assisted_teleop_cancel_bt_node
|
||||||
- nav2_drive_on_heading_cancel_bt_node
|
- nav2_drive_on_heading_cancel_bt_node
|
||||||
|
- nav2_is_battery_charging_condition_bt_node
|
||||||
|
|
||||||
bt_navigator_navigate_through_poses_rclcpp_node:
|
bt_navigator_navigate_through_poses_rclcpp_node:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
@ -110,73 +187,49 @@ bt_navigator_navigate_to_pose_rclcpp_node:
|
|||||||
controller_server:
|
controller_server:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
use_sim_time: True
|
use_sim_time: True
|
||||||
controller_frequency: 20.0
|
controller_frequency: 100.0 # was 20.0
|
||||||
min_x_velocity_threshold: 0.001
|
min_x_velocity_threshold: 0.001
|
||||||
min_y_velocity_threshold: 0.5
|
min_y_velocity_threshold: 0.5
|
||||||
min_theta_velocity_threshold: 0.001
|
min_theta_velocity_threshold: 0.001
|
||||||
failure_tolerance: 0.3
|
progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
|
||||||
progress_checker_plugin: "progress_checker"
|
goal_checker_plugins: ["goal_checker"]
|
||||||
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
|
|
||||||
controller_plugins: ["FollowPath"]
|
controller_plugins: ["FollowPath"]
|
||||||
|
|
||||||
# Progress checker parameters
|
|
||||||
progress_checker:
|
progress_checker:
|
||||||
plugin: "nav2_controller::SimpleProgressChecker"
|
plugin: "nav2_controller::SimpleProgressChecker"
|
||||||
required_movement_radius: 0.5
|
required_movement_radius: 0.5
|
||||||
movement_time_allowance: 10.0
|
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"
|
plugin: "nav2_controller::SimpleGoalChecker"
|
||||||
xy_goal_tolerance: 0.25
|
xy_goal_tolerance: 0.25 # was 0.25
|
||||||
yaw_goal_tolerance: 0.25
|
yaw_goal_tolerance: 0.25 # was 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
|
stateful: True
|
||||||
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
|
FollowPath:
|
||||||
BaseObstacle.scale: 0.02
|
plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
|
||||||
PathAlign.scale: 32.0
|
desired_linear_vel: 0.5
|
||||||
PathAlign.forward_point_distance: 0.1
|
lookahead_dist: 0.6
|
||||||
GoalAlign.scale: 24.0
|
min_lookahead_dist: 0.3
|
||||||
GoalAlign.forward_point_distance: 0.1
|
max_lookahead_dist: 0.9
|
||||||
PathDist.scale: 32.0
|
lookahead_time: 1.5
|
||||||
GoalDist.scale: 24.0
|
rotate_to_heading_angular_vel: 1.8
|
||||||
RotateToGoal.scale: 32.0
|
transform_tolerance: 0.1
|
||||||
RotateToGoal.slowing_factor: 5.0
|
use_velocity_scaled_lookahead_dist: false
|
||||||
RotateToGoal.lookahead_time: -1.0
|
min_approach_linear_velocity: 0.007 # was 0.05
|
||||||
|
approach_velocity_scaling_dist: 0.6
|
||||||
|
use_collision_detection: true
|
||||||
|
max_allowed_time_to_collision_up_to_carrot: 1.0
|
||||||
|
use_regulated_linear_velocity_scaling: true
|
||||||
|
use_fixed_curvature_lookahead: false
|
||||||
|
curvature_lookahead_dist: 0.25
|
||||||
|
use_cost_regulated_linear_velocity_scaling: false
|
||||||
|
regulated_linear_scaling_min_radius: 0.9
|
||||||
|
regulated_linear_scaling_min_speed: 0.25
|
||||||
|
use_rotate_to_heading: false # was true, cannot be set together with allow_reversing
|
||||||
|
allow_reversing: true # was false
|
||||||
|
rotate_to_heading_min_angle: 0.785
|
||||||
|
max_angular_accel: 3.2
|
||||||
|
max_robot_pose_search_dist: 10.0
|
||||||
|
use_interpolation: true # was false
|
||||||
|
|
||||||
local_costmap:
|
local_costmap:
|
||||||
local_costmap:
|
local_costmap:
|
||||||
@ -190,11 +243,12 @@ local_costmap:
|
|||||||
width: 3
|
width: 3
|
||||||
height: 3
|
height: 3
|
||||||
resolution: 0.05
|
resolution: 0.05
|
||||||
robot_radius: 0.22
|
#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] ]"
|
||||||
plugins: ["voxel_layer", "inflation_layer"]
|
plugins: ["voxel_layer", "inflation_layer"]
|
||||||
inflation_layer:
|
inflation_layer:
|
||||||
plugin: "nav2_costmap_2d::InflationLayer"
|
plugin: "nav2_costmap_2d::InflationLayer"
|
||||||
cost_scaling_factor: 3.0
|
cost_scaling_factor: 10.0 # was 3.0
|
||||||
inflation_radius: 0.55
|
inflation_radius: 0.55
|
||||||
voxel_layer:
|
voxel_layer:
|
||||||
plugin: "nav2_costmap_2d::VoxelLayer"
|
plugin: "nav2_costmap_2d::VoxelLayer"
|
||||||
@ -205,9 +259,9 @@ 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: rplidar oakd
|
||||||
scan:
|
rplidar:
|
||||||
topic: /scan
|
topic: /scan_filtered
|
||||||
max_obstacle_height: 2.0
|
max_obstacle_height: 2.0
|
||||||
clearing: True
|
clearing: True
|
||||||
marking: True
|
marking: True
|
||||||
@ -216,6 +270,17 @@ local_costmap:
|
|||||||
raytrace_min_range: 0.0
|
raytrace_min_range: 0.0
|
||||||
obstacle_max_range: 2.5
|
obstacle_max_range: 2.5
|
||||||
obstacle_min_range: 0.0
|
obstacle_min_range: 0.0
|
||||||
|
oak-d: # no frame set, uses frame from message
|
||||||
|
topic: /stereo/points
|
||||||
|
max_obstacle_height: 1.5
|
||||||
|
min_obstacle_height: 0.02
|
||||||
|
obstacle_max_range: 3.0
|
||||||
|
obstacle_min_range: 0.0
|
||||||
|
raytrace_max_range: 3.2
|
||||||
|
raytrace_min_range: 0.0
|
||||||
|
clearing: True
|
||||||
|
marking: True
|
||||||
|
data_type: "PointCloud2"
|
||||||
static_layer:
|
static_layer:
|
||||||
plugin: "nav2_costmap_2d::StaticLayer"
|
plugin: "nav2_costmap_2d::StaticLayer"
|
||||||
map_subscribe_transient_local: True
|
map_subscribe_transient_local: True
|
||||||
@ -229,7 +294,8 @@ global_costmap:
|
|||||||
global_frame: map
|
global_frame: map
|
||||||
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] ]" # gave another points for the polygon
|
||||||
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"]
|
||||||
@ -238,7 +304,7 @@ global_costmap:
|
|||||||
enabled: True
|
enabled: True
|
||||||
observation_sources: scan
|
observation_sources: scan
|
||||||
scan:
|
scan:
|
||||||
topic: /scan
|
topic: /scan_filtered
|
||||||
max_obstacle_height: 2.0
|
max_obstacle_height: 2.0
|
||||||
clearing: True
|
clearing: True
|
||||||
marking: True
|
marking: True
|
||||||
@ -252,7 +318,7 @@ global_costmap:
|
|||||||
map_subscribe_transient_local: True
|
map_subscribe_transient_local: True
|
||||||
inflation_layer:
|
inflation_layer:
|
||||||
plugin: "nav2_costmap_2d::InflationLayer"
|
plugin: "nav2_costmap_2d::InflationLayer"
|
||||||
cost_scaling_factor: 3.0
|
cost_scaling_factor: 10.0 # was 3.0
|
||||||
inflation_radius: 0.55
|
inflation_radius: 0.55
|
||||||
always_send_full_costmap: True
|
always_send_full_costmap: True
|
||||||
|
|
||||||
@ -270,17 +336,28 @@ map_saver:
|
|||||||
free_thresh_default: 0.25
|
free_thresh_default: 0.25
|
||||||
occupied_thresh_default: 0.65
|
occupied_thresh_default: 0.65
|
||||||
map_subscribe_transient_local: True
|
map_subscribe_transient_local: True
|
||||||
|
|
||||||
planner_server:
|
planner_server:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
expected_planner_frequency: 20.0
|
|
||||||
use_sim_time: True
|
|
||||||
planner_plugins: ["GridBased"]
|
planner_plugins: ["GridBased"]
|
||||||
|
use_sim_time: True
|
||||||
|
|
||||||
GridBased:
|
GridBased:
|
||||||
plugin: "nav2_navfn_planner/NavfnPlanner"
|
plugin: "nav2_smac_planner/SmacPlanner2D"
|
||||||
tolerance: 0.5
|
tolerance: 0.125 # tolerance for planning if unable to reach exact pose, in meters
|
||||||
use_astar: false
|
downsample_costmap: false # whether or not to downsample the map
|
||||||
allow_unknown: true
|
downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
|
||||||
|
allow_unknown: true # allow traveling in unknown space
|
||||||
|
max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
|
||||||
|
max_on_approach_iterations: 1000 # maximum number of iterations to attempt to reach goal once in tolerance
|
||||||
|
max_planning_time: 2.0 # max time in s for planner to plan, smooth
|
||||||
|
cost_travel_multiplier: 2.0 # Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*.
|
||||||
|
use_final_approach_orientation: true # Whether to set the final path pose at the goal's orientation to the requested orientation (false) or in line with the approach angle so the robot doesn't rotate to heading (true)
|
||||||
|
smoother:
|
||||||
|
max_iterations: 1000
|
||||||
|
w_smooth: 0.3
|
||||||
|
w_data: 0.2
|
||||||
|
tolerance: 0.1
|
||||||
|
|
||||||
smoother_server:
|
smoother_server:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
@ -337,12 +414,12 @@ velocity_smoother:
|
|||||||
use_sim_time: True
|
use_sim_time: True
|
||||||
smoothing_frequency: 20.0
|
smoothing_frequency: 20.0
|
||||||
scale_velocities: False
|
scale_velocities: False
|
||||||
feedback: "OPEN_LOOP"
|
feedback: "CLOSED_LOOP" # was OPEN_LOOP
|
||||||
max_velocity: [0.26, 0.0, 1.0]
|
max_velocity: [0.26, 0.0, 1.0]
|
||||||
min_velocity: [-0.26, 0.0, -1.0]
|
min_velocity: [-0.26, 0.0, -1.0]
|
||||||
max_accel: [2.5, 0.0, 3.2]
|
max_accel: [2.5, 0.0, 3.2]
|
||||||
max_decel: [-2.5, 0.0, -3.2]
|
max_decel: [-2.5, 0.0, -3.2]
|
||||||
odom_topic: "odom"
|
odom_topic: "/odometry/filtered"
|
||||||
odom_duration: 0.1
|
odom_duration: 0.1 # was 0.1
|
||||||
deadband_velocity: [0.0, 0.0, 0.0]
|
deadband_velocity: [0.0, 0.0, 0.0]
|
||||||
velocity_timeout: 1.0
|
velocity_timeout: 1.0
|
||||||
Loading…
Reference in New Issue
Block a user