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update
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@ -108,6 +108,76 @@ bt_navigator_navigate_to_pose_rclcpp_node:
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ros__parameters:
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ros__parameters:
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use_sim_time: True
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use_sim_time: True
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# controller_server:
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# ros__parameters:
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# use_sim_time: True
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# controller_frequency: 20.0
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# min_x_velocity_threshold: 0.001
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# min_y_velocity_threshold: 0.5
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# min_theta_velocity_threshold: 0.001
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# failure_tolerance: 0.3
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# progress_checker_plugin: "progress_checker"
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# goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
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# controller_plugins: ["FollowPath"]
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# # Progress checker parameters
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# progress_checker:
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# plugin: "nav2_controller::SimpleProgressChecker"
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# required_movement_radius: 0.5
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# movement_time_allowance: 10.0
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# # Goal checker parameters
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# #precise_goal_checker:
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# # plugin: "nav2_controller::SimpleGoalChecker"
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# # xy_goal_tolerance: 0.25
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# # yaw_goal_tolerance: 0.25
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# # stateful: True
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# general_goal_checker:
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# stateful: True
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# plugin: "nav2_controller::SimpleGoalChecker"
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# xy_goal_tolerance: 0.25
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# yaw_goal_tolerance: 0.25
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# # DWB parameters
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# FollowPath:
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# plugin: "dwb_core::DWBLocalPlanner"
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# debug_trajectory_details: True
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# min_vel_x: -0.1
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# min_vel_y: 0.0
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# max_vel_x: 0.26
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# max_vel_y: 0.0
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# max_vel_theta: 1.0
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# min_speed_xy: 0.0
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# max_speed_xy: 0.26
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# min_speed_theta: 0.0
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# # Add high threshold velocity for turtlebot 3 issue.
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# # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
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# acc_lim_x: 2.5
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# acc_lim_y: 0.0
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# acc_lim_theta: 3.2
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# decel_lim_x: -2.5
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# decel_lim_y: 0.0
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# decel_lim_theta: -3.2
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# vx_samples: 20
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# vy_samples: 5
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# vtheta_samples: 20
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# sim_time: 1.7
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# linear_granularity: 0.05
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# angular_granularity: 0.025
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# transform_tolerance: 0.2
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# xy_goal_tolerance: 0.25
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# trans_stopped_velocity: 0.25
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# short_circuit_trajectory_evaluation: True
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# stateful: True
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# critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "ObstacleFootprint", "PreferForward"]
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# BaseObstacle.scale: 0.02
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# PathAlign.scale: 32.0
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# PathAlign.forward_point_distance: 0.1
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# GoalAlign.scale: 24.0
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# GoalAlign.forward_point_distance: 0.1
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# PathDist.scale: 32.0
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# GoalDist.scale: 24.0
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# RotateToGoal.scale: 32.0
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# RotateToGoal.slowing_factor: 5.0
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# RotateToGoal.lookahead_time: -1.0
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controller_server:
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controller_server:
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ros__parameters:
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ros__parameters:
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use_sim_time: True
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use_sim_time: True
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@ -115,69 +185,46 @@ controller_server:
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min_x_velocity_threshold: 0.001
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min_x_velocity_threshold: 0.001
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min_y_velocity_threshold: 0.5
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min_y_velocity_threshold: 0.5
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min_theta_velocity_threshold: 0.001
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min_theta_velocity_threshold: 0.001
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failure_tolerance: 0.3
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progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
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progress_checker_plugin: "progress_checker"
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goal_checker_plugins: ["goal_checker"]
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goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
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controller_plugins: ["FollowPath"]
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controller_plugins: ["FollowPath"]
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# Progress checker parameters
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progress_checker:
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progress_checker:
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plugin: "nav2_controller::SimpleProgressChecker"
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plugin: "nav2_controller::SimpleProgressChecker"
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required_movement_radius: 0.5
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required_movement_radius: 0.5
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movement_time_allowance: 10.0
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movement_time_allowance: 10.0
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# Goal checker parameters
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goal_checker:
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#precise_goal_checker:
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# plugin: "nav2_controller::SimpleGoalChecker"
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# xy_goal_tolerance: 0.25
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# yaw_goal_tolerance: 0.25
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# stateful: True
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general_goal_checker:
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stateful: True
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plugin: "nav2_controller::SimpleGoalChecker"
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plugin: "nav2_controller::SimpleGoalChecker"
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xy_goal_tolerance: 0.25
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xy_goal_tolerance: 0.25
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yaw_goal_tolerance: 0.25
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yaw_goal_tolerance: 0.25
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# DWB parameters
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FollowPath:
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plugin: "dwb_core::DWBLocalPlanner"
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debug_trajectory_details: True
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min_vel_x: -0.1
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min_vel_y: 0.0
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max_vel_x: 0.26
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max_vel_y: 0.0
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max_vel_theta: 1.0
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min_speed_xy: 0.0
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max_speed_xy: 0.26
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min_speed_theta: 0.0
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# Add high threshold velocity for turtlebot 3 issue.
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# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
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acc_lim_x: 2.5
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acc_lim_y: 0.0
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acc_lim_theta: 3.2
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decel_lim_x: -2.5
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decel_lim_y: 0.0
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decel_lim_theta: -3.2
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vx_samples: 20
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vy_samples: 5
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vtheta_samples: 20
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sim_time: 1.7
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linear_granularity: 0.05
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angular_granularity: 0.025
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transform_tolerance: 0.2
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xy_goal_tolerance: 0.25
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trans_stopped_velocity: 0.25
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short_circuit_trajectory_evaluation: True
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stateful: True
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stateful: True
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critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "ObstacleFootprint", "PreferForward"]
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FollowPath:
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BaseObstacle.scale: 0.02
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plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
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PathAlign.scale: 32.0
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desired_linear_vel: 0.5
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PathAlign.forward_point_distance: 0.1
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lookahead_dist: 0.6
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GoalAlign.scale: 24.0
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min_lookahead_dist: 0.3
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GoalAlign.forward_point_distance: 0.1
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max_lookahead_dist: 0.9
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PathDist.scale: 32.0
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lookahead_time: 1.5
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GoalDist.scale: 24.0
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rotate_to_heading_angular_vel: 1.8
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RotateToGoal.scale: 32.0
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transform_tolerance: 0.1
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RotateToGoal.slowing_factor: 5.0
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use_velocity_scaled_lookahead_dist: false
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RotateToGoal.lookahead_time: -1.0
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min_approach_linear_velocity: 0.05
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approach_velocity_scaling_dist: 0.6
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use_collision_detection: true
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max_allowed_time_to_collision_up_to_carrot: 1.0
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use_regulated_linear_velocity_scaling: true
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use_fixed_curvature_lookahead: false
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curvature_lookahead_dist: 0.25
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use_cost_regulated_linear_velocity_scaling: false
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regulated_linear_scaling_min_radius: 0.9
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regulated_linear_scaling_min_speed: 0.25
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use_rotate_to_heading: true
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allow_reversing: false
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rotate_to_heading_min_angle: 0.785
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max_angular_accel: 3.2
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max_robot_pose_search_dist: 10.0
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use_interpolation: false
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local_costmap:
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local_costmap:
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local_costmap:
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local_costmap:
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