ellensohn/cps_rmp220_support
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update: sim time false

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This commit is contained in:
Björn Ellensohn 2023-09-06 10:02:27 +02:00
parent 9d09fdf831
commit 7ad13883de
1 changed files with 14 additions and 14 deletions
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28
config/nav2_params.yaml
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@ -1,6 +1,6 @@
amcl: amcl:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: False
alpha1: 0.2 alpha1: 0.2
alpha2: 0.2 alpha2: 0.2
alpha3: 0.2 alpha3: 0.2
@ -41,7 +41,7 @@ amcl:
bt_navigator: bt_navigator:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: False
global_frame: map global_frame: map
robot_base_frame: base_link robot_base_frame: base_link
odom_topic: /odometry/filtered odom_topic: /odometry/filtered
@ -102,15 +102,15 @@ bt_navigator:
bt_navigator_navigate_through_poses_rclcpp_node: bt_navigator_navigate_through_poses_rclcpp_node:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: False
bt_navigator_navigate_to_pose_rclcpp_node: bt_navigator_navigate_to_pose_rclcpp_node:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: False
controller_server: controller_server:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: False
controller_frequency: 50.0 controller_frequency: 50.0
min_x_velocity_threshold: 0.001 min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.001 min_y_velocity_threshold: 0.001
@ -199,7 +199,7 @@ local_costmap:
publish_frequency: 5.0 # was 2.0 publish_frequency: 5.0 # was 2.0
global_frame: odom global_frame: odom
robot_base_frame: base_link robot_base_frame: base_link
use_sim_time: True use_sim_time: False
rolling_window: true rolling_window: true
width: 3 width: 3
height: 3 height: 3
@ -246,7 +246,7 @@ global_costmap:
publish_frequency: 1.0 publish_frequency: 1.0
global_frame: map global_frame: map
robot_base_frame: base_link robot_base_frame: base_link
use_sim_time: True use_sim_time: False
#robot_radius: 0.50 #robot_radius: 0.50
footprint: "[ [0.21, 0.255], [0.21, -0.255], [-0.52, -0.255], [-0.52, 0.255] ]" footprint: "[ [0.21, 0.255], [0.21, -0.255], [-0.52, -0.255], [-0.52, 0.255] ]"
resolution: 0.05 resolution: 0.05
@ -287,7 +287,7 @@ map_server:
map_saver: map_saver:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: False
save_map_timeout: 5.0 save_map_timeout: 5.0
free_thresh_default: 0.25 free_thresh_default: 0.25
occupied_thresh_default: 0.65 occupied_thresh_default: 0.65
@ -296,7 +296,7 @@ map_saver:
planner_server: planner_server:
ros__parameters: ros__parameters:
expected_planner_frequency: 20.0 expected_planner_frequency: 20.0
use_sim_time: True use_sim_time: False
planner_plugins: ["GridBased"] planner_plugins: ["GridBased"]
GridBased: GridBased:
#plugin: "nav2_navfn_planner/NavfnPlanner" #plugin: "nav2_navfn_planner/NavfnPlanner"
@ -307,7 +307,7 @@ planner_server:
smoother_server: smoother_server:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: False
smoother_plugins: ["simple_smoother"] smoother_plugins: ["simple_smoother"]
simple_smoother: simple_smoother:
plugin: "nav2_smoother::SimpleSmoother" plugin: "nav2_smoother::SimpleSmoother"
@ -334,7 +334,7 @@ behavior_server:
global_frame: odom global_frame: odom
robot_base_frame: base_link robot_base_frame: base_link
transform_tolerance: 0.1 transform_tolerance: 0.1
use_sim_time: true use_sim_time: False
simulate_ahead_time: 2.0 simulate_ahead_time: 2.0
max_rotational_vel: 1.0 max_rotational_vel: 1.0
min_rotational_vel: 0.4 min_rotational_vel: 0.4
@ -342,11 +342,11 @@ behavior_server:
robot_state_publisher: robot_state_publisher:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: False
waypoint_follower: waypoint_follower:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: False
loop_rate: 20 loop_rate: 20
stop_on_failure: false stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint" waypoint_task_executor_plugin: "wait_at_waypoint"
@ -357,7 +357,7 @@ waypoint_follower:
velocity_smoother: velocity_smoother:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: False
smoothing_frequency: 20.0 smoothing_frequency: 20.0
scale_velocities: False scale_velocities: False
feedback: "OPEN_LOOP" feedback: "OPEN_LOOP"