diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index b2901a4..1b8c180 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -276,93 +276,93 @@ bt_navigator_navigate_to_pose_rclcpp_node: # # 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 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: @@ -413,79 +413,79 @@ bt_navigator_navigate_to_pose_rclcpp_node: # use_interpolation: true # try DWB controller -controller_server: - ros__parameters: - # controller server parameters (see Controller Server for more info) - use_sim_time: False - 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 - # DWB controller parameters - FollowPath: - plugin: "nav2_rotation_shim_controller::RotationShimController" - primary_controller: "dwb_core::DWBLocalPlanner" - # RotaitonShimController parameters: - angular_dist_threshold: 6.283 #was 0.785 now equals 360 degrees - forward_sampling_distance: 0.5 - rotate_to_heading_angular_vel: 2.8 # was 1.8 - max_angular_accel: 1.2 - simulate_ahead_time: 1.0 # was 1.0 +# controller_server: +# ros__parameters: +# # controller server parameters (see Controller Server for more info) +# use_sim_time: False +# 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 +# # DWB controller parameters +# FollowPath: +# plugin: "nav2_rotation_shim_controller::RotationShimController" +# primary_controller: "dwb_core::DWBLocalPlanner" +# # RotaitonShimController parameters: +# angular_dist_threshold: 6.283 #was 0.785 now equals 360 degrees +# forward_sampling_distance: 0.5 +# rotate_to_heading_angular_vel: 2.8 # was 1.8 +# max_angular_accel: 1.2 +# simulate_ahead_time: 1.0 # was 1.0 - # Primary controller params can be placed here below - debug_trajectory_details: False - min_vel_x: -0.16 # was 0.0 -> maybe can go backwards now. YES! - min_vel_y: 0.0 - max_vel_x: 0.26 - max_vel_y: 0.0 - max_vel_theta: 3.0 # was 1.0 - min_speed_xy: 0.0 - max_speed_xy: 0.26 - min_speed_theta: 0.0 - 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", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "PreferForward"] # added TwirlingCritic, PreferForward, remove BaseObstacleCritic, adde ObstacleFootprintCritic - ObstacleFootprintCritic.scale: 0.08 # was 0.02 - PathAlign.scale: 32.0 - GoalAlign.scale: 24.0 - PathAlign.forward_point_distance: 0.05 # was 0.1 - 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 - #TwirlingCritic.scale: 0.02 # was 1.0 - PreferForward.penalty: 1.0 - PreferForward.scale: 5.0 - Oscillation.scale: 20.0 +# # Primary controller params can be placed here below +# debug_trajectory_details: False +# min_vel_x: -0.16 # was 0.0 -> maybe can go backwards now. YES! +# min_vel_y: 0.0 +# max_vel_x: 0.26 +# max_vel_y: 0.0 +# max_vel_theta: 3.0 # was 1.0 +# min_speed_xy: 0.0 +# max_speed_xy: 0.26 +# min_speed_theta: 0.0 +# 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", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "PreferForward"] # added TwirlingCritic, PreferForward, remove BaseObstacleCritic, adde ObstacleFootprintCritic +# ObstacleFootprintCritic.scale: 0.08 # was 0.02 +# PathAlign.scale: 32.0 +# GoalAlign.scale: 24.0 +# PathAlign.forward_point_distance: 0.05 # was 0.1 +# 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 +# #TwirlingCritic.scale: 0.02 # was 1.0 +# PreferForward.penalty: 1.0 +# PreferForward.scale: 5.0 +# Oscillation.scale: 20.0 local_costmap: local_costmap: