From e8cfd10427e7c2e15ff6634913761c099559434e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Tue, 3 Oct 2023 09:15:24 +0200 Subject: [PATCH] update --- config/nav2_params.yaml | 66 ++++++++++++++++++++++------------------- 1 file changed, 35 insertions(+), 31 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index 7eceef7..1ba776b 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -1,5 +1,6 @@ amcl: ros__parameters: + use_sim_time: True alpha1: 0.2 alpha2: 0.2 alpha3: 0.2 @@ -40,17 +41,12 @@ amcl: bt_navigator: ros__parameters: + use_sim_time: True global_frame: map robot_base_frame: base_link odom_topic: /odom bt_loop_duration: 10 default_server_timeout: 20 - action_server_result_timeout: 900.0 - navigators: ["navigate_to_pose", "navigate_through_poses"] - navigate_to_pose: - plugin: "nav2_bt_navigator/NavigateToPoseNavigator" - navigate_through_poses: - plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator" # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml @@ -71,10 +67,6 @@ bt_navigator: - nav2_goal_updated_condition_bt_node - nav2_globally_updated_goal_condition_bt_node - nav2_is_path_valid_condition_bt_node - - nav2_are_error_codes_active_condition_bt_node - - nav2_would_a_controller_recovery_help_condition_bt_node - - nav2_would_a_planner_recovery_help_condition_bt_node - - nav2_would_a_smoother_recovery_help_condition_bt_node - nav2_initial_pose_received_condition_bt_node - nav2_reinitialize_global_localization_service_bt_node - nav2_rate_controller_bt_node @@ -107,18 +99,24 @@ bt_navigator: - nav2_assisted_teleop_cancel_bt_node - nav2_drive_on_heading_cancel_bt_node - nav2_is_battery_charging_condition_bt_node - error_code_names: - - compute_path_error_code - - follow_path_error_code + +bt_navigator_navigate_through_poses_rclcpp_node: + ros__parameters: + use_sim_time: True + +bt_navigator_navigate_to_pose_rclcpp_node: + ros__parameters: + use_sim_time: True controller_server: ros__parameters: + use_sim_time: True controller_frequency: 20.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 failure_tolerance: 0.3 - progress_checker_plugins: ["progress_checker"] + progress_checker_plugin: "progress_checker" goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" controller_plugins: ["FollowPath"] @@ -188,12 +186,12 @@ local_costmap: publish_frequency: 2.0 global_frame: odom robot_base_frame: base_link + use_sim_time: True rolling_window: true width: 3 height: 3 resolution: 0.05 - #robot_radius: 0.22 - footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" + robot_radius: 0.22 plugins: ["voxel_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" @@ -231,8 +229,8 @@ global_costmap: publish_frequency: 1.0 global_frame: map robot_base_frame: base_link - #robot_radius: 0.22 - footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" + use_sim_time: True + robot_radius: 0.22 resolution: 0.05 track_unknown_space: true plugins: ["static_layer", "obstacle_layer", "inflation_layer"] @@ -259,15 +257,16 @@ global_costmap: inflation_radius: 0.55 always_send_full_costmap: True -# The yaml_filename does not need to be specified since it going to be set by defaults in launch. -# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py -# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used. -# map_server: -# ros__parameters: -# yaml_filename: "" +map_server: + ros__parameters: + use_sim_time: True + # Overridden in launch by the "map" launch configuration or provided default value. + # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below. + yaml_filename: "" map_saver: ros__parameters: + use_sim_time: True save_map_timeout: 5.0 free_thresh_default: 0.25 occupied_thresh_default: 0.65 @@ -276,6 +275,7 @@ map_saver: planner_server: ros__parameters: expected_planner_frequency: 20.0 + use_sim_time: True planner_plugins: ["GridBased"] GridBased: plugin: "nav2_navfn_planner/NavfnPlanner" @@ -285,6 +285,7 @@ planner_server: smoother_server: ros__parameters: + use_sim_time: True smoother_plugins: ["simple_smoother"] simple_smoother: plugin: "nav2_smoother::SimpleSmoother" @@ -294,10 +295,8 @@ smoother_server: behavior_server: ros__parameters: - local_costmap_topic: local_costmap/costmap_raw - global_costmap_topic: global_costmap/costmap_raw - local_footprint_topic: local_costmap/published_footprint - global_footprint_topic: global_costmap/published_footprint + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint cycle_frequency: 10.0 behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] spin: @@ -310,20 +309,24 @@ behavior_server: plugin: "nav2_behaviors/Wait" assisted_teleop: plugin: "nav2_behaviors/AssistedTeleop" - local_frame: odom - global_frame: map + global_frame: odom robot_base_frame: base_link transform_tolerance: 0.1 + use_sim_time: true simulate_ahead_time: 2.0 max_rotational_vel: 1.0 min_rotational_vel: 0.4 rotational_acc_lim: 3.2 +robot_state_publisher: + ros__parameters: + use_sim_time: True + waypoint_follower: ros__parameters: + use_sim_time: True loop_rate: 20 stop_on_failure: false - action_server_result_timeout: 900.0 waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" @@ -332,6 +335,7 @@ waypoint_follower: velocity_smoother: ros__parameters: + use_sim_time: True smoothing_frequency: 20.0 scale_velocities: False feedback: "OPEN_LOOP"