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Björn Ellensohn 2023-09-06 10:16:50 +02:00
parent fd829d942a
commit af56ebe2cd
1 changed files with 171 additions and 83 deletions
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config/nav2_params.yaml
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@ -108,91 +108,179 @@ bt_navigator_navigate_to_pose_rclcpp_node:
ros__parameters: ros__parameters:
use_sim_time: False use_sim_time: False
controller_server: # controller_server:
ros__parameters: # ros__parameters:
use_sim_time: False # use_sim_time: False
controller_frequency: 50.0 # controller_frequency: 30.0
min_x_velocity_threshold: 0.001 # min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.001 # min_y_velocity_threshold: 0.001
min_theta_velocity_threshold: 0.001 # min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3 # failure_tolerance: 0.3
progress_checker_plugin: "progress_checker" # progress_checker_plugin: "progress_checker"
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" # goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
controller_plugins: ["FollowPath"] # controller_plugins: ["FollowPath"]
# Progress checker parameters # # Progress checker parameters
progress_checker: # progress_checker:
plugin: "nav2_controller::SimpleProgressChecker" # plugin: "nav2_controller::SimpleProgressChecker"
required_movement_radius: 0.5 # required_movement_radius: 0.5
movement_time_allowance: 10.0 # movement_time_allowance: 10.0
# Goal checker parameters # # Goal checker parameters
#precise_goal_checker: # #precise_goal_checker:
# # plugin: "nav2_controller::SimpleGoalChecker"
# # xy_goal_tolerance: 0.25
# # yaw_goal_tolerance: 0.25
# # stateful: True
# general_goal_checker:
# stateful: True
# plugin: "nav2_controller::SimpleGoalChecker" # plugin: "nav2_controller::SimpleGoalChecker"
# xy_goal_tolerance: 0.25 # xy_goal_tolerance: 0.25
# yaw_goal_tolerance: 0.25 # yaw_goal_tolerance: 0.25
# stateful: True # # DWB parameters
general_goal_checker: # FollowPath:
stateful: True # # plugin: "dwb_core::DWBLocalPlanner"
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25 # # trying roation_shim_controller
yaw_goal_tolerance: 0.25 # #plugin: "nav2_rotation_shim_controller::RotationShimController"
# DWB parameters # #plugin: "dwb_core::DWBLocalPlanner"
# #primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
# #primary_controller: "dwb_core::DWBLocalPlanner"
# # angular_dist_threshold: 0.785
# # forward_sampling_distance: 0.5
# # rotate_to_heading_angular_vel: 0.3
# # max_angular_accel: 0.2
# # simulate_ahead_time: 1.0
# # # primary controller params (dwb)
# # debug_trajectory_details: True
# # min_vel_x: 0.0
# # min_vel_y: 0.0
# # max_vel_x: 0.26
# # max_vel_y: 0.26
# # max_vel_theta: 1.0
# # min_speed_xy: 0.001
# # max_speed_xy: 0.26
# # min_speed_theta: 0.0
# # # Add high threshold velocity for turtlebot 3 issue.
# # # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
# # acc_lim_x: 0.02 # was 2.5
# # acc_lim_y: 0.02
# # acc_lim_theta: 1.0 # was 3.2
# # decel_lim_x: -0.02 # was -2.5
# # decel_lim_y: -0.02
# # decel_lim_theta: -0.1 # was -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
# # PathAlign.forward_point_distance: 0.1
# # GoalAlign.scale: 24.0
# # 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
# # trying mppi_controller
# plugin: "nav2_mppi_controller::MPPIController"
# time_steps: 56
# model_dt: 0.05
# batch_size: 2000
# vx_std: 0.2
# vy_std: 0.2
# wz_std: 0.4
# vx_max: 0.5
# vx_min: -0.35
# vy_max: 0.5
# wz_max: 1.9
# iteration_count: 1
# prune_distance: 1.7
# transform_tolerance: 0.1
# temperature: 0.3
# gamma: 0.015
# motion_model: "DiffDrive"
# visualize: false
# reset_period: 1.0 # (only in Humble)
# TrajectoryVisualizer:
# trajectory_step: 5
# time_step: 3
# AckermannConstrains:
# min_turning_r: 0.2
# critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
# ConstraintCritic:
# enabled: true
# cost_power: 1
# cost_weight: 4.0
# GoalCritic:
# enabled: true
# cost_power: 1
# cost_weight: 5.0
# threshold_to_consider: 1.4
# GoalAngleCritic:
# enabled: true
# cost_power: 1
# cost_weight: 3.0
# threshold_to_consider: 0.5
# PreferForwardCritic:
# enabled: true
# cost_power: 1
# cost_weight: 5.0
# threshold_to_consider: 0.5
# ObstaclesCritic:
# enabled: true
# cost_power: 1
# repulsion_weight: 1.5
# critical_weight: 20.0
# consider_footprint: false
# collision_cost: 10000.0
# collision_margin_distance: 0.1
# near_goal_distance: 0.5
# inflation_radius: 0.55 # (only in Humble)
# cost_scaling_factor: 10.0 # (only in Humble)
# PathAlignCritic:
# enabled: true
# cost_power: 1
# cost_weight: 14.0
# max_path_occupancy_ratio: 0.05
# trajectory_point_step: 3
# threshold_to_consider: 0.5
# offset_from_furthest: 20
# use_path_orientations: false
# PathFollowCritic:
# enabled: true
# cost_power: 1
# cost_weight: 5.0
# offset_from_furthest: 5
# threshold_to_consider: 1.4
# PathAngleCritic:
# enabled: true
# cost_power: 1
# cost_weight: 2.0
# offset_from_furthest: 4
# threshold_to_consider: 0.5
# max_angle_to_furthest: 1.0
# mode: 0
# # TwirlingCritic:
# # enabled: true
# # twirling_cost_power: 1
# # twirling_cost_weight: 10.0
#try mppi controller
controller_server:
ros__parameters:
controller_frequency: 30.0
FollowPath: FollowPath:
# plugin: "dwb_core::DWBLocalPlanner"
# trying roation_shim_controller
#plugin: "nav2_rotation_shim_controller::RotationShimController"
#plugin: "dwb_core::DWBLocalPlanner"
#primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
#primary_controller: "dwb_core::DWBLocalPlanner"
# angular_dist_threshold: 0.785
# forward_sampling_distance: 0.5
# rotate_to_heading_angular_vel: 0.3
# max_angular_accel: 0.2
# simulate_ahead_time: 1.0
# # primary controller params (dwb)
# debug_trajectory_details: True
# min_vel_x: 0.0
# min_vel_y: 0.0
# max_vel_x: 0.26
# max_vel_y: 0.26
# max_vel_theta: 1.0
# min_speed_xy: 0.001
# max_speed_xy: 0.26
# min_speed_theta: 0.0
# # Add high threshold velocity for turtlebot 3 issue.
# # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
# acc_lim_x: 0.02 # was 2.5
# acc_lim_y: 0.02
# acc_lim_theta: 1.0 # was 3.2
# decel_lim_x: -0.02 # was -2.5
# decel_lim_y: -0.02
# decel_lim_theta: -0.1 # was -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
# PathAlign.forward_point_distance: 0.1
# GoalAlign.scale: 24.0
# 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
# trying mppi_controller
plugin: "nav2_mppi_controller::MPPIController" plugin: "nav2_mppi_controller::MPPIController"
time_steps: 56 time_steps: 56
model_dt: 0.05 model_dt: 0.05