update

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"
+      plugin: "dwb_core::DWBLocalPlanner"
-      desired_linear_vel: 0.8 # was 0.5
+      debug_trajectory_details: True
-      lookahead_dist: 0.6
+      min_vel_x: 0.0
-      min_lookahead_dist: 0.3
+      min_vel_y: 0.0
-      max_lookahead_dist: 0.9
+      max_vel_x: 0.26
-      lookahead_time: 1.5
+      max_vel_y: 0.0
-      rotate_to_heading_angular_vel: 0.4 # was 0.8
+      max_vel_theta: 1.0
-      transform_tolerance: 0.1
+      min_speed_xy: 0.0
-      use_velocity_scaled_lookahead_dist: false
+      max_speed_xy: 0.26
-      min_approach_linear_velocity: 0.05
+      min_speed_theta: 0.0
-      approach_velocity_scaling_dist: 0.6
+      acc_lim_x: 2.5
-      use_collision_detection: true
+      acc_lim_y: 0.0
-      max_allowed_time_to_collision_up_to_carrot: 1.0
+      acc_lim_theta: 3.2
-      use_regulated_linear_velocity_scaling: true
+      decel_lim_x: -2.5
-      use_fixed_curvature_lookahead: false
+      decel_lim_y: 0.0
-      curvature_lookahead_dist: 0.25
+      decel_lim_theta: -3.2
-      use_cost_regulated_linear_velocity_scaling: false
+      vx_samples: 20
-      regulated_linear_scaling_min_radius: 0.9
+      vy_samples: 5
-      regulated_linear_scaling_min_speed: 0.25
+      vtheta_samples: 20
-      use_rotate_to_heading: false # set to false because can't be set together with allow_reversing
+      sim_time: 1.7
-      allow_reversing: true
+      linear_granularity: 0.05
-      rotate_to_heading_min_angle: 0.785
+      angular_granularity: 0.025
-      max_angular_accel: 1.2
+      transform_tolerance: 0.2
-      max_robot_pose_search_dist: 10.0
+      xy_goal_tolerance: 0.25
-      use_interpolation: true
+      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: