diff --git a/config/nav2_params .bak.03-10-23.yaml b/config/nav2_params .bak.03-10-23.yaml new file mode 100644 index 0000000..b53d0fd --- /dev/null +++ b/config/nav2_params .bak.03-10-23.yaml @@ -0,0 +1,791 @@ +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: true # was false before + 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: 1.5 # was 1.0 tried increasing to solve the error with control loop missing its rate + 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/filtered + 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: true # was 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: 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 +# FollowPath: +# plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" +# desired_linear_vel: 0.8 # was 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: 0.4 # was 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: false # set to false because can't be set together with allow_reversing +# 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 + +#try DWB controller +controller_server: + ros__parameters: + # controller server parameters (see Controller Server for more info) + use_sim_time: False + controller_frequency: 10.0 # was 20 hz + 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: 0.785 #was 6.283 now lowered value + forward_sampling_distance: 0.5 + rotate_to_heading_angular_vel: 1.8 # was 2.8 + max_angular_accel: 0.6 # was 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: 0.01 # was 0.5 + 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: 0.8 # was 1.0 + PreferForward.scale: 32.0 # was 5.0 + Oscillation.scale: 20.0 + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 # was 5.0 + publish_frequency: 2.0 # 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 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + footprint_clearing_enabled: true + max_obstacle_height: 2.0 + publish_voxel_map: false + origin_z: 0.0 + z_resolution: 0.5 + z_voxels: 10 + unknown_threshold: 4 + mark_threshold: 2 + observation_sources: oak-d rplidar + combination_method: 1 + 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" + rplidar: + 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", "inflation_layer", "denoise_layer"] # remove "obstacle_layer", , "stvl_layer" + # stvl_layer: + # plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer" + # enabled: true + # voxel_decay: 15. + # decay_model: 0 + # voxel_size: 0.05 + # track_unknown_space: true + # unknown_threshold: 15 + # mark_threshold: 0 + # update_footprint_enabled: true + # combination_method: 1 + # origin_z: 0.0 + # publish_voxel_map: true + # transform_tolerance: 0.2 + # mapping_mode: false + # map_save_duration: 60.0 + # observation_sources: pointcloud + # pointcloud: + # data_type: PointCloud2 + # topic: /stereo/points + # marking: true + # clearing: true + # obstacle_range: 1.0 # was 3.0 + # min_obstacle_height: 0.0 + # max_obstacle_height: 2.0 + # expected_update_rate: 0.0 + # observation_persistence: 0.0 + # inf_is_valid: false + # filter: "voxel" + # voxel_min_points: 0 + # clear_after_reading: true + # max_z: 7.0 + # min_z: 0.1 + # vertical_fov_angle: 0.8745 + # horizontal_fov_angle: 1.048 + # decay_acceleration: 15.0 + # model_type: 0 + 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" + tolerance: 0.5 + #use_astar: false + allow_unknown: true + +### Trying theta-star planner +# planner_server: +# ros__parameters: +# expected_planner_frequency: 20.0 +# use_sim_time: False +# planner_plugins: ["GridBased"] +# GridBased: +# plugin: "nav2_theta_star_planner/ThetaStarPlanner" +# how_many_corners: 8 +# w_euc_cost: 1.0 +# w_traversal_cost: 2.0 +# w_heuristic_cost: 1.0 + +# 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: 0.10 # was 0.40 # minimum turning radius in m of path / vehicle +# reverse_penalty: 1.3 # 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: 3.0 # was 2 before # 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: [ "spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] # "removed 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, 2.0] # was 0.26, 0.0, 1.0 + min_velocity: [-0.26, 0.0, -2.0] # was -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_duration: 0.0333 # was 0.1, set to 30 hz to match odometry freq. + deadband_velocity: [0.1, 0.1, 0.1] # was 0.0, 0.0, 0.0 + velocity_timeout: 1.0 \ No newline at end of file diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index b53d0fd..7eceef7 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -1,6 +1,5 @@ amcl: ros__parameters: - use_sim_time: False alpha1: 0.2 alpha2: 0.2 alpha3: 0.2 @@ -10,11 +9,11 @@ amcl: beam_skip_distance: 0.5 beam_skip_error_threshold: 0.9 beam_skip_threshold: 0.3 - do_beamskip: true # was false before + 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_max_range: 100.0 laser_min_range: -1.0 laser_model_type: "likelihood_field" max_beams: 60 @@ -30,7 +29,7 @@ amcl: save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: true - transform_tolerance: 1.5 # was 1.0 tried increasing to solve the error with control loop missing its rate + transform_tolerance: 1.0 update_min_a: 0.2 update_min_d: 0.25 z_hit: 0.5 @@ -41,12 +40,17 @@ amcl: bt_navigator: ros__parameters: - use_sim_time: False global_frame: map robot_base_frame: base_link - odom_topic: /odometry/filtered + odom_topic: /odom bt_loop_duration: 10 default_server_timeout: 20 + action_server_result_timeout: 900.0 + navigators: ["navigate_to_pose", "navigate_through_poses"] + navigate_to_pose: + plugin: "nav2_bt_navigator/NavigateToPoseNavigator" + navigate_through_poses: + plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator" # '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 @@ -67,6 +71,10 @@ bt_navigator: - nav2_goal_updated_condition_bt_node - nav2_globally_updated_goal_condition_bt_node - nav2_is_path_valid_condition_bt_node + - nav2_are_error_codes_active_condition_bt_node + - nav2_would_a_controller_recovery_help_condition_bt_node + - nav2_would_a_planner_recovery_help_condition_bt_node + - nav2_would_a_smoother_recovery_help_condition_bt_node - nav2_initial_pose_received_condition_bt_node - nav2_reinitialize_global_localization_service_bt_node - nav2_rate_controller_bt_node @@ -99,361 +107,51 @@ bt_navigator: - nav2_assisted_teleop_cancel_bt_node - nav2_drive_on_heading_cancel_bt_node - nav2_is_battery_charging_condition_bt_node + error_code_names: + - compute_path_error_code + - follow_path_error_code -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: true # was 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: 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 -# FollowPath: -# plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" -# desired_linear_vel: 0.8 # was 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: 0.4 # was 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: false # set to false because can't be set together with allow_reversing -# 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 - -#try DWB controller controller_server: ros__parameters: - # controller server parameters (see Controller Server for more info) - use_sim_time: False - controller_frequency: 10.0 # was 20 hz + 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"] + failure_tolerance: 0.3 + progress_checker_plugins: ["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: + # 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 - stateful: True - # DWB controller parameters + # DWB parameters FollowPath: - plugin: "nav2_rotation_shim_controller::RotationShimController" - primary_controller: "dwb_core::DWBLocalPlanner" - # RotaitonShimController parameters: - angular_dist_threshold: 0.785 #was 6.283 now lowered value - forward_sampling_distance: 0.5 - rotate_to_heading_angular_vel: 1.8 # was 2.8 - max_angular_accel: 0.6 # was 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! + 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: 3.0 # was 1.0 + 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 @@ -471,98 +169,56 @@ controller_server: 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 + 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 - PathAlign.forward_point_distance: 0.01 # was 0.5 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: 0.8 # was 1.0 - PreferForward.scale: 32.0 # was 5.0 - Oscillation.scale: 20.0 local_costmap: local_costmap: ros__parameters: - update_frequency: 5.0 # was 5.0 - publish_frequency: 2.0 # was 2.0 + update_frequency: 5.0 + publish_frequency: 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 + #robot_radius: 0.22 + footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" + plugins: ["voxel_layer", "inflation_layer"] 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 + cost_scaling_factor: 3.0 + inflation_radius: 0.55 voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True - footprint_clearing_enabled: true - max_obstacle_height: 2.0 - publish_voxel_map: false + publish_voxel_map: True origin_z: 0.0 - z_resolution: 0.5 - z_voxels: 10 - unknown_threshold: 4 - mark_threshold: 2 - observation_sources: oak-d rplidar - combination_method: 1 - 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" - rplidar: + 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_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 - obstacle_min_range: 0.0 + obstacle_min_range: 0.0 static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True @@ -575,85 +231,43 @@ global_costmap: 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 + #robot_radius: 0.22 + footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" resolution: 0.05 track_unknown_space: true - plugins: ["static_layer", "inflation_layer", "denoise_layer"] # remove "obstacle_layer", , "stvl_layer" - # stvl_layer: - # plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer" - # enabled: true - # voxel_decay: 15. - # decay_model: 0 - # voxel_size: 0.05 - # track_unknown_space: true - # unknown_threshold: 15 - # mark_threshold: 0 - # update_footprint_enabled: true - # combination_method: 1 - # origin_z: 0.0 - # publish_voxel_map: true - # transform_tolerance: 0.2 - # mapping_mode: false - # map_save_duration: 60.0 - # observation_sources: pointcloud - # pointcloud: - # data_type: PointCloud2 - # topic: /stereo/points - # marking: true - # clearing: true - # obstacle_range: 1.0 # was 3.0 - # min_obstacle_height: 0.0 - # max_obstacle_height: 2.0 - # expected_update_rate: 0.0 - # observation_persistence: 0.0 - # inf_is_valid: false - # filter: "voxel" - # voxel_min_points: 0 - # clear_after_reading: true - # max_z: 7.0 - # min_z: 0.1 - # vertical_fov_angle: 0.8745 - # horizontal_fov_angle: 1.048 - # decay_acceleration: 15.0 - # model_type: 0 - denoise_layer: - plugin: "nav2_costmap_2d::DenoiseLayer" + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" 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 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 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 + cost_scaling_factor: 3.0 + inflation_radius: 0.55 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" +# The yaml_filename does not need to be specified since it going to be set by defaults in launch. +# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py +# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used. +# map_server: +# ros__parameters: +# yaml_filename: "" map_saver: ros__parameters: - use_sim_time: False save_map_timeout: 5.0 free_thresh_default: 0.25 occupied_thresh_default: 0.65 @@ -662,71 +276,15 @@ map_saver: planner_server: ros__parameters: expected_planner_frequency: 20.0 - use_sim_time: False planner_plugins: ["GridBased"] GridBased: plugin: "nav2_navfn_planner/NavfnPlanner" tolerance: 0.5 - #use_astar: false + use_astar: false allow_unknown: true -### Trying theta-star planner -# planner_server: -# ros__parameters: -# expected_planner_frequency: 20.0 -# use_sim_time: False -# planner_plugins: ["GridBased"] -# GridBased: -# plugin: "nav2_theta_star_planner/ThetaStarPlanner" -# how_many_corners: 8 -# w_euc_cost: 1.0 -# w_traversal_cost: 2.0 -# w_heuristic_cost: 1.0 - -# 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: 0.10 # was 0.40 # minimum turning radius in m of path / vehicle -# reverse_penalty: 1.3 # 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: 3.0 # was 2 before # 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" @@ -736,12 +294,14 @@ smoother_server: behavior_server: ros__parameters: - costmap_topic: local_costmap/costmap_raw - footprint_topic: local_costmap/published_footprint + local_costmap_topic: local_costmap/costmap_raw + global_costmap_topic: global_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_footprint_topic: global_costmap/published_footprint cycle_frequency: 10.0 - behavior_plugins: [ "spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] # "removed spin", + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] spin: - plugin: "nav2_behaviors/Spin" + plugin: "nav2_behaviors/Spin" backup: plugin: "nav2_behaviors/BackUp" drive_on_heading: @@ -750,24 +310,20 @@ behavior_server: plugin: "nav2_behaviors/Wait" assisted_teleop: plugin: "nav2_behaviors/AssistedTeleop" - global_frame: odom + local_frame: odom + global_frame: map 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 + action_server_result_timeout: 900.0 waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" @@ -776,16 +332,14 @@ waypoint_follower: 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, 2.0] # was 0.26, 0.0, 1.0 - min_velocity: [-0.26, 0.0, -2.0] # was -0.26, 0.0, -1.0 + 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_duration: 0.0333 # was 0.1, set to 30 hz to match odometry freq. - deadband_velocity: [0.1, 0.1, 0.1] # was 0.0, 0.0, 0.0 + odom_topic: "odom" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] velocity_timeout: 1.0 \ No newline at end of file