From d30da7874a117b91610e75e0ba1896febc4d389e Mon Sep 17 00:00:00 2001
From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com>
Date: Tue, 21 Nov 2023 08:06:14 +0100
Subject: [PATCH] update

---
 config/nav2_params.yaml | 39 ++++++++++++++-------------------------
 1 file changed, 14 insertions(+), 25 deletions(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index a6ac7cf..deb59a4 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -13,8 +13,8 @@ slam_toolbox:
     odom_frame: odom
     map_frame: map
     base_frame: base_footprint
-    #scan_topic: /scan
-    scan_topic: /scan_filtered
+    scan_topic: /scan
+    #scan_topic: /scan_filtered
     use_map_saver: true
     mode: mapping #localization
 
@@ -35,7 +35,7 @@ slam_toolbox:
     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
+    enable_interactive_mode: false
 
     # General Parameters
     use_scan_matching: true
@@ -113,14 +113,14 @@ amcl:
     z_max: 0.05
     z_rand: 0.5
     z_short: 0.05
-    scan_topic: scan_filtered
+    scan_topic: scan
 
 bt_navigator:
   ros__parameters:
     use_sim_time: True
     global_frame: map
     robot_base_frame: base_link
-    odom_topic: /odometry/filtered
+    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:
@@ -259,9 +259,9 @@ local_costmap:
         z_voxels: 16
         max_obstacle_height: 2.0
         mark_threshold: 0
-        observation_sources: rplidar oakd
-        rplidar:
-          topic: /scan_filtered
+        observation_sources: lslidar
+        lslidar:
+          topic: scan
           max_obstacle_height: 2.0
           clearing: True
           marking: True
@@ -270,17 +270,6 @@ local_costmap:
           raytrace_min_range: 0.0
           obstacle_max_range: 2.5
           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:
         plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: True
@@ -302,9 +291,9 @@ global_costmap:
       obstacle_layer:
         plugin: "nav2_costmap_2d::ObstacleLayer"
         enabled: True
-        observation_sources: scan
-        scan:
-          topic: /scan_filtered
+        observation_sources: lslidar
+        lslidar:
+          topic: scan
           max_obstacle_height: 2.0
           clearing: True
           marking: True
@@ -336,7 +325,7 @@ map_saver:
     free_thresh_default: 0.25
     occupied_thresh_default: 0.65
     map_subscribe_transient_local: True
-    
+
 planner_server:
   ros__parameters:
     planner_plugins: ["GridBased"]
@@ -414,12 +403,12 @@ velocity_smoother:
     use_sim_time: True
     smoothing_frequency: 20.0
     scale_velocities: False
-    feedback: "CLOSED_LOOP" # was OPEN_LOOP
+    feedback: "OPEN_LOOP" # was 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_topic: "odom"
     odom_duration: 0.1 # was 0.1
     deadband_velocity: [0.0, 0.0, 0.0]
     velocity_timeout: 1.0
\ No newline at end of file