cps_rmp220_support/config/nav2_params.yaml

amcl:
  ros__parameters:
    use_sim_time: False
    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: -1.0 # was 100 before: setting now to laser reported range (8m)
    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: False
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odometry
    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
      - nav2_is_battery_charging_condition_bt_node

bt_navigator_navigate_through_poses_rclcpp_node:
  ros__parameters:
    use_sim_time: False

bt_navigator_navigate_to_pose_rclcpp_node:
  ros__parameters:
    use_sim_time: False

# controller_server:
#   ros__parameters:
#     use_sim_time: False
#     controller_frequency: 30.0
#     min_x_velocity_threshold: 0.001
#     min_y_velocity_threshold: 0.001
#     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"

#       # trying roation_shim_controller
#       #plugin: "nav2_rotation_shim_controller::RotationShimController"
#       #plugin: "dwb_core::DWBLocalPlanner"
#       #primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
#       #primary_controller: "dwb_core::DWBLocalPlanner"
#       # angular_dist_threshold: 0.785
#       # forward_sampling_distance: 0.5
#       # rotate_to_heading_angular_vel: 0.3
#       # max_angular_accel: 0.2
#       # simulate_ahead_time: 1.0

#       # # primary controller params (dwb)
#       # debug_trajectory_details: True
#       # min_vel_x: 0.0
#       # min_vel_y: 0.0
#       # max_vel_x: 0.26
#       # max_vel_y: 0.26
#       # max_vel_theta: 1.0
#       # min_speed_xy: 0.001
#       # 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: 0.02 # was 2.5
#       # acc_lim_y: 0.02
#       # acc_lim_theta: 1.0 # was 3.2
#       # decel_lim_x: -0.02 # was -2.5
#       # decel_lim_y: -0.02
#       # decel_lim_theta: -0.1 # was -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

#       # trying mppi_controller
#       plugin: "nav2_mppi_controller::MPPIController"
#       time_steps: 56
#       model_dt: 0.05
#       batch_size: 2000
#       vx_std: 0.2
#       vy_std: 0.2
#       wz_std: 0.4
#       vx_max: 0.5
#       vx_min: -0.35
#       vy_max: 0.5
#       wz_max: 1.9
#       iteration_count: 1
#       prune_distance: 1.7
#       transform_tolerance: 0.1
#       temperature: 0.3
#       gamma: 0.015
#       motion_model: "DiffDrive"
#       visualize: false
#       reset_period: 1.0 # (only in Humble)
#       TrajectoryVisualizer:
#         trajectory_step: 5
#         time_step: 3
#       AckermannConstrains:
#         min_turning_r: 0.2
#       critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
#       ConstraintCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 4.0
#       GoalCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 5.0
#         threshold_to_consider: 1.4
#       GoalAngleCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 3.0
#         threshold_to_consider: 0.5
#       PreferForwardCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 5.0
#         threshold_to_consider: 0.5
#       ObstaclesCritic:
#         enabled: true
#         cost_power: 1
#         repulsion_weight: 1.5
#         critical_weight: 20.0
#         consider_footprint: false
#         collision_cost: 10000.0
#         collision_margin_distance: 0.1
#         near_goal_distance: 0.5
#         inflation_radius: 0.55 # (only in Humble)
#         cost_scaling_factor: 10.0 # (only in Humble)
#       PathAlignCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 14.0
#         max_path_occupancy_ratio: 0.05
#         trajectory_point_step: 3
#         threshold_to_consider: 0.5
#         offset_from_furthest: 20
#         use_path_orientations: false
#       PathFollowCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 5.0
#         offset_from_furthest: 5
#         threshold_to_consider: 1.4
#       PathAngleCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 2.0
#         offset_from_furthest: 4
#         threshold_to_consider: 0.5
#         max_angle_to_furthest: 1.0
#         mode: 0
#       # TwirlingCritic:
#       #   enabled: true
#       #   twirling_cost_power: 1
#       #   twirling_cost_weight: 10.0

# #try mppi controller --> leads to crash on startup!
# controller_server:
#   ros__parameters:
#     controller_frequency: 30.0
#     FollowPath:
#       plugin: "nav2_mppi_controller::MPPIController"
#       time_steps: 56
#       model_dt: 0.05
#       batch_size: 2000
#       vx_std: 0.2
#       vy_std: 0.2
#       wz_std: 0.4
#       vx_max: 0.5
#       vx_min: -0.35
#       vy_max: 0.5
#       wz_max: 1.9
#       iteration_count: 1
#       prune_distance: 1.7
#       transform_tolerance: 0.1
#       temperature: 0.3
#       gamma: 0.015
#       motion_model: "DiffDrive"
#       visualize: false
#       reset_period: 1.0 # (only in Humble)
#       TrajectoryVisualizer:
#         trajectory_step: 5
#         time_step: 3
#       AckermannConstrains:
#         min_turning_r: 0.2
#       critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
#       ConstraintCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 4.0
#       GoalCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 5.0
#         threshold_to_consider: 1.4
#       GoalAngleCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 3.0
#         threshold_to_consider: 0.5
#       PreferForwardCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 5.0
#         threshold_to_consider: 0.5
#       ObstaclesCritic:
#         enabled: true
#         cost_power: 1
#         repulsion_weight: 1.5
#         critical_weight: 20.0
#         consider_footprint: false
#         collision_cost: 10000.0
#         collision_margin_distance: 0.1
#         near_goal_distance: 0.5
#         inflation_radius: 0.55 # (only in Humble)
#         cost_scaling_factor: 10.0 # (only in Humble)
#       PathAlignCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 14.0
#         max_path_occupancy_ratio: 0.05
#         trajectory_point_step: 3
#         threshold_to_consider: 0.5
#         offset_from_furthest: 20
#         use_path_orientations: false
#       PathFollowCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 5.0
#         offset_from_furthest: 5
#         threshold_to_consider: 1.4
#       PathAngleCritic:
#         enabled: true
#         cost_power: 1
#         cost_weight: 2.0
#         offset_from_furthest: 4
#         threshold_to_consider: 0.5
#         max_angle_to_furthest: 1.0
#         mode: 0
#       # TwirlingCritic:
#       #   enabled: true
#       #   twirling_cost_power: 1
#       #   twirling_cost_weight: 10.0

# try rpp controller
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
    progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
    goal_checker_plugins: ["goal_checker"]
    controller_plugins: ["FollowPath"]

    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
      stateful: True
    FollowPath:
      plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
      desired_linear_vel: 0.5
      lookahead_dist: 0.6
      min_lookahead_dist: 0.3
      max_lookahead_dist: 0.9
      lookahead_time: 1.5
      rotate_to_heading_angular_vel: 0.8
      transform_tolerance: 0.1
      use_velocity_scaled_lookahead_dist: false
      min_approach_linear_velocity: 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: true
      allow_reversing: true
      rotate_to_heading_min_angle: 0.785
      max_angular_accel: 1.2
      max_robot_pose_search_dist: 10.0
      use_interpolation: true

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 20.0 # was 5.0
      publish_frequency: 5.0 # was 2.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: False
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      #robot_radius: 0.50
      footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon
      plugins: ["voxel_layer", "inflation_layer", "denoise_layer"]
      denoise_layer:
        plugin: "nav2_costmap_2d::DenoiseLayer"
        enabled: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 8.0 # was 3.0
        inflation_radius: 0.44
      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: 8.0 # was 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: False
      #robot_radius: 0.50
      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
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer", "denoise_layer"]
      denoise_layer:
        plugin: "nav2_costmap_2d::DenoiseLayer"
        enabled: True
      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: 8.0 # was 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: 8.0 # was 3.0
        inflation_radius: 0.44
      always_send_full_costmap: True

map_server:
  ros__parameters:
    use_sim_time: False
    # 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: "/repo/map_floor_save.yaml"

map_saver:
  ros__parameters:
    use_sim_time: False
    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: False
#     planner_plugins: ["GridBased"]
#     GridBased:
#       plugin: "nav2_navfn_planner/NavfnPlanner"
#       #plugin: "nav2_smac_planner/SmacPlanner2D"
#       tolerance: 0.5
#       #use_astar: false
#       allow_unknown: true

# trying smac hybrid planner
planner_server:
  ros__parameters:
    planner_plugins: ["GridBased"]
    use_sim_time: True

    GridBased:
      plugin: "nav2_smac_planner/SmacPlannerHybrid"
      downsample_costmap: false           # whether or not to downsample the map
      downsampling_factor: 1              # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
      tolerance: 0.25                     # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
      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 after within tolerances to continue to try to find exact solution
      max_planning_time: 5.0              # max time in s for planner to plan, smooth
      motion_model_for_search: "DUBIN" #was DUBIN   # Hybrid-A* Dubin, Redds-Shepp
      angle_quantization_bins: 72         # Number of angle bins for search
      analytic_expansion_ratio: 3.5       # The ratio to attempt analytic expansions during search for final approach.
      analytic_expansion_max_length: 3.0  # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
      minimum_turning_radius: 0.15 # was 0.40        # minimum turning radius in m of path / vehicle
      reverse_penalty: 1.0 # was 2.0               # Penalty to apply if motion is reversing, must be => 1
      change_penalty: 0.5 # was 0.0                # Penalty to apply if motion is changing directions (L to R), must be >= 0
      non_straight_penalty: 1.2           # Penalty to apply if motion is non-straight, must be => 1
      cost_penalty: 2.0                   # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
      retrospective_penalty: 0.015
      lookup_table_size: 20.0             # Size of the dubin/reeds-sheep distance window to cache, in meters.
      cache_obstacle_heuristic: true #was fasle     # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
      debug_visualizations: false         # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning) and the path's footprints on the /planned_footprints topic. WARNING: heavy to compute and to display, for debug only as it degrades the performance.
      use_quadratic_cost_penalty: False
      downsample_obstacle_heuristic: True
      allow_primitive_interpolation: False
      smooth_path: True                   # If true, does a simple and quick smoothing post-processing to the path

      smoother:
        max_iterations: 1000
        w_smooth: 0.3
        w_data: 0.2
        tolerance: 1.0e-10
        do_refinement: true
        refinement_num: 2

smoother_server:
  ros__parameters:
    use_sim_time: False
    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: [ "backup", "drive_on_heading", "assisted_teleop", "wait"] # "spin",
    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: False
    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: False

waypoint_follower:
  ros__parameters:
    use_sim_time: False
    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: False
    smoothing_frequency: 20.0
    scale_velocities: False
    #feedback: "OPEN_LOOP"
    feedback: "CLOSED_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"
    odom_duration: 0.1
    deadband_velocity: [0.0, 0.0, 0.0]
    velocity_timeout: 1.0