From 5b1f07ecec71acdbda7d6f2b51042c0363fd0763 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Fri, 8 Sep 2023 10:36:05 +0200 Subject: [PATCH] update --- config/nav2_params.yaml | 116 ++++++++++++++++++++++++++++++---------- 1 file changed, 89 insertions(+), 27 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index 3f72aec..515526a 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -364,9 +364,58 @@ bt_navigator_navigate_to_pose_rclcpp_node: # # twirling_cost_power: 1 # # twirling_cost_weight: 10.0 -# try rpp controller +# # 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: 20.0 min_x_velocity_threshold: 0.001 @@ -375,7 +424,6 @@ controller_server: 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 @@ -385,32 +433,46 @@ controller_server: xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25 stateful: True + # DWB controller parameters 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 + 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: 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", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + GoalAlign.scale: 24.0 + PathAlign.forward_point_distance: 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 local_costmap: local_costmap: