diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index f9564b4..7a7920c 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -276,93 +276,141 @@ bt_navigator_navigate_to_pose_rclcpp_node: # # twirling_cost_power: 1 # # twirling_cost_weight: 10.0 -#try mppi controller +# #try mppi controller --> leads to crash on startup! +# controller_server: +# ros__parameters: +# controller_frequency: 30.0 +# FollowPath: +# 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 rpp controller controller_server: ros__parameters: - controller_frequency: 30.0 + 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 + progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older + goal_checker_plugins: ["goal_checker"] + controller_plugins: ["FollowPath"] + + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + goal_checker: + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + stateful: True FollowPath: - 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 + plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" + desired_linear_vel: 0.5 + lookahead_dist: 0.6 + min_lookahead_dist: 0.3 + max_lookahead_dist: 0.9 + lookahead_time: 1.5 + rotate_to_heading_angular_vel: 1.8 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 + use_velocity_scaled_lookahead_dist: false + min_approach_linear_velocity: 0.05 + approach_velocity_scaling_dist: 0.6 + use_collision_detection: true + max_allowed_time_to_collision_up_to_carrot: 1.0 + use_regulated_linear_velocity_scaling: true + use_fixed_curvature_lookahead: false + curvature_lookahead_dist: 0.25 + use_cost_regulated_linear_velocity_scaling: false + regulated_linear_scaling_min_radius: 0.9 + regulated_linear_scaling_min_speed: 0.25 + use_rotate_to_heading: true + allow_reversing: false + rotate_to_heading_min_angle: 0.785 + max_angular_accel: 3.2 + max_robot_pose_search_dist: 10.0 + use_interpolation: false local_costmap: local_costmap: