update

config/nav2_params.yaml

@@ -513,17 +513,51 @@ map_saver:
     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 lattice planner
 planner_server:
   ros__parameters:
-    expected_planner_frequency: 20.0
-    use_sim_time: False
     planner_plugins: ["GridBased"]
+    use_sim_time: True
+
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_smac_planner/SmacPlannerLattice"
-      #plugin: "nav2_smac_planner/SmacPlanner2D"
+      allow_unknown: true                 # Allow traveling in unknown space
-      tolerance: 0.5
+      tolerance: 0.25                     # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
-      #use_astar: false
+      max_iterations: 1000000             # Maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
-      allow_unknown: true
+      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
+      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
+      reverse_penalty: 2.0                # Penalty to apply if motion is reversing, must be => 1
+      change_penalty: 0.05                # Penalty to apply if motion is changing directions (L to R), must be >= 0
+      non_straight_penalty: 1.05          # 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.
+      rotation_penalty: 5.0               # Penalty to apply to in-place rotations, if minimum control set contains them
+      retrospective_penalty: 0.015
+      lattice_filepath: ""                # The filepath to the state lattice graph
+      lookup_table_size: 20.0             # Size of the dubin/reeds-sheep distance window to cache, in meters.
+      cache_obstacle_heuristic: false     # 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.
+      allow_reverse_expansion: false      # If true, allows the robot to use the primitives to expand in the mirrored opposite direction of the current robot's orientation (to reverse).
+      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: