ellensohn/cps_loki_bringup
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bjoernellens1 2023-11-21 08:06:14 +01:00 committed by GitHub
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commit d30da7874a
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1 changed files with 14 additions and 25 deletions
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config/nav2_params.yaml
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@ -13,8 +13,8 @@ slam_toolbox:
odom_frame: odom odom_frame: odom
map_frame: map map_frame: map
base_frame: base_footprint base_frame: base_footprint
#scan_topic: /scan scan_topic: /scan
scan_topic: /scan_filtered #scan_topic: /scan_filtered
use_map_saver: true use_map_saver: true
mode: mapping #localization mode: mapping #localization
@ -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
@ -113,14 +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_filtered scan_topic: scan
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: /odometry/filtered odom_topic: odom
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:
@ -259,9 +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: rplidar oakd observation_sources: lslidar
rplidar: lslidar:
topic: /scan_filtered topic: scan
max_obstacle_height: 2.0 max_obstacle_height: 2.0
clearing: True clearing: True
marking: True marking: True
@ -270,17 +270,6 @@ 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
@ -302,9 +291,9 @@ global_costmap:
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
max_obstacle_height: 2.0 max_obstacle_height: 2.0
clearing: True clearing: True
marking: True marking: True
@ -414,12 +403,12 @@ 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: "CLOSED_LOOP" # was OPEN_LOOP feedback: "OPEN_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: "/odometry/filtered" odom_topic: "odom"
odom_duration: 0.1 # was 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