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@ -108,91 +108,179 @@ 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: False
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use_sim_time: False
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# controller_server:
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# ros__parameters:
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# use_sim_time: False
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# controller_frequency: 30.0
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# min_x_velocity_threshold: 0.001
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# min_y_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_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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# # trying roation_shim_controller
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# #plugin: "nav2_rotation_shim_controller::RotationShimController"
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# #plugin: "dwb_core::DWBLocalPlanner"
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# #primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
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# #primary_controller: "dwb_core::DWBLocalPlanner"
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# # angular_dist_threshold: 0.785
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# # forward_sampling_distance: 0.5
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# # rotate_to_heading_angular_vel: 0.3
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# # max_angular_accel: 0.2
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# # simulate_ahead_time: 1.0
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# # # primary controller params (dwb)
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# # debug_trajectory_details: True
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# # min_vel_x: 0.0
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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: 0.26
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# # max_vel_theta: 1.0
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# # min_speed_xy: 0.001
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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: 0.02 # was 2.5
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# # acc_lim_y: 0.02
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# # acc_lim_theta: 1.0 # was 3.2
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# # decel_lim_x: -0.02 # was -2.5
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# # decel_lim_y: -0.02
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# # decel_lim_theta: -0.1 # was -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"]
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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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# # trying mppi_controller
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# plugin: "nav2_mppi_controller::MPPIController"
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# time_steps: 56
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# model_dt: 0.05
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# batch_size: 2000
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# vx_std: 0.2
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# vy_std: 0.2
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# wz_std: 0.4
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# vx_max: 0.5
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# vx_min: -0.35
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# vy_max: 0.5
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# wz_max: 1.9
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# iteration_count: 1
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# prune_distance: 1.7
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# transform_tolerance: 0.1
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# temperature: 0.3
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# gamma: 0.015
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# motion_model: "DiffDrive"
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# visualize: false
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# reset_period: 1.0 # (only in Humble)
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# TrajectoryVisualizer:
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# trajectory_step: 5
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# time_step: 3
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# AckermannConstrains:
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# min_turning_r: 0.2
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# critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
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# ConstraintCritic:
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# enabled: true
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# cost_power: 1
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# cost_weight: 4.0
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# GoalCritic:
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# enabled: true
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# cost_power: 1
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# cost_weight: 5.0
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# threshold_to_consider: 1.4
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# GoalAngleCritic:
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# enabled: true
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# cost_power: 1
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# cost_weight: 3.0
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# threshold_to_consider: 0.5
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# PreferForwardCritic:
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# enabled: true
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# cost_power: 1
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# cost_weight: 5.0
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# threshold_to_consider: 0.5
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# ObstaclesCritic:
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# enabled: true
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# cost_power: 1
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# repulsion_weight: 1.5
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# critical_weight: 20.0
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# consider_footprint: false
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# collision_cost: 10000.0
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# collision_margin_distance: 0.1
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# near_goal_distance: 0.5
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# inflation_radius: 0.55 # (only in Humble)
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# cost_scaling_factor: 10.0 # (only in Humble)
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# PathAlignCritic:
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# enabled: true
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# cost_power: 1
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# cost_weight: 14.0
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# max_path_occupancy_ratio: 0.05
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# trajectory_point_step: 3
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# threshold_to_consider: 0.5
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# offset_from_furthest: 20
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# use_path_orientations: false
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# PathFollowCritic:
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# enabled: true
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# cost_power: 1
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# cost_weight: 5.0
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# offset_from_furthest: 5
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# threshold_to_consider: 1.4
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# PathAngleCritic:
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# enabled: true
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# cost_power: 1
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# cost_weight: 2.0
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# offset_from_furthest: 4
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# threshold_to_consider: 0.5
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# max_angle_to_furthest: 1.0
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# mode: 0
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# # TwirlingCritic:
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# # enabled: true
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# # twirling_cost_power: 1
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# # twirling_cost_weight: 10.0
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#try mppi controller
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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: False
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controller_frequency: 30.0
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controller_frequency: 50.0
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min_x_velocity_threshold: 0.001
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min_y_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_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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FollowPath:
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# plugin: "dwb_core::DWBLocalPlanner"
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# trying roation_shim_controller
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#plugin: "nav2_rotation_shim_controller::RotationShimController"
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#plugin: "dwb_core::DWBLocalPlanner"
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#primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
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#primary_controller: "dwb_core::DWBLocalPlanner"
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# angular_dist_threshold: 0.785
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# forward_sampling_distance: 0.5
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# rotate_to_heading_angular_vel: 0.3
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# max_angular_accel: 0.2
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# simulate_ahead_time: 1.0
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# # primary controller params (dwb)
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# debug_trajectory_details: True
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# min_vel_x: 0.0
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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: 0.26
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# max_vel_theta: 1.0
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# min_speed_xy: 0.001
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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: 0.02 # was 2.5
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# acc_lim_y: 0.02
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# acc_lim_theta: 1.0 # was 3.2
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# decel_lim_x: -0.02 # was -2.5
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# decel_lim_y: -0.02
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# decel_lim_theta: -0.1 # was -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"]
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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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# trying mppi_controller
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plugin: "nav2_mppi_controller::MPPIController"
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plugin: "nav2_mppi_controller::MPPIController"
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time_steps: 56
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time_steps: 56
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model_dt: 0.05
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model_dt: 0.05
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