diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index 69f89e7..bbe77f4 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -277,92 +277,92 @@ bt_navigator_navigate_to_pose_rclcpp_node: # # twirling_cost_weight: 10.0 #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: true # was 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 +# 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: true # was 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: @@ -412,80 +412,80 @@ controller_server: # max_robot_pose_search_dist: 10.0 # use_interpolation: true -# try DWB controller -# controller_server: -# ros__parameters: -# # controller server parameters (see Controller Server for more info) -# use_sim_time: False -# 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 -# # DWB controller parameters -# FollowPath: -# plugin: "nav2_rotation_shim_controller::RotationShimController" -# primary_controller: "dwb_core::DWBLocalPlanner" -# # RotaitonShimController parameters: -# angular_dist_threshold: 6.283 #was 0.785 now equals 360 degrees -# forward_sampling_distance: 0.5 -# rotate_to_heading_angular_vel: 2.8 # was 1.8 -# max_angular_accel: 1.2 -# simulate_ahead_time: 1.0 # was 1.0 +try DWB controller +controller_server: + ros__parameters: + # controller server parameters (see Controller Server for more info) + use_sim_time: False + 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 + # DWB controller parameters + FollowPath: + plugin: "nav2_rotation_shim_controller::RotationShimController" + primary_controller: "dwb_core::DWBLocalPlanner" + # RotaitonShimController parameters: + angular_dist_threshold: 6.283 #was 0.785 now equals 360 degrees + forward_sampling_distance: 0.5 + rotate_to_heading_angular_vel: 2.8 # was 1.8 + max_angular_accel: 1.2 + simulate_ahead_time: 1.0 # was 1.0 -# # Primary controller params can be placed here below -# debug_trajectory_details: False -# min_vel_x: -0.16 # was 0.0 -> maybe can go backwards now. YES! -# min_vel_y: 0.0 -# max_vel_x: 0.26 -# max_vel_y: 0.0 -# max_vel_theta: 3.0 # was 1.0 -# min_speed_xy: 0.0 -# max_speed_xy: 0.26 -# min_speed_theta: 0.0 -# acc_lim_x: 2.5 -# acc_lim_y: 0.0 -# acc_lim_theta: 3.2 -# decel_lim_x: -2.5 -# decel_lim_y: 0.0 -# decel_lim_theta: -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", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "PreferForward"] # added TwirlingCritic, PreferForward, remove BaseObstacleCritic, adde ObstacleFootprintCritic -# ObstacleFootprintCritic.scale: 0.08 # was 0.02 -# PathAlign.scale: 32.0 -# GoalAlign.scale: 24.0 -# PathAlign.forward_point_distance: 0.05 # was 0.1 -# 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 -# #TwirlingCritic.scale: 0.02 # was 1.0 -# PreferForward.penalty: 1.0 -# PreferForward.scale: 5.0 -# Oscillation.scale: 20.0 + # Primary controller params can be placed here below + debug_trajectory_details: False + min_vel_x: -0.16 # was 0.0 -> maybe can go backwards now. YES! + min_vel_y: 0.0 + max_vel_x: 0.26 + max_vel_y: 0.0 + max_vel_theta: 3.0 # was 1.0 + min_speed_xy: 0.0 + max_speed_xy: 0.26 + min_speed_theta: 0.0 + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -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", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "PreferForward"] # added TwirlingCritic, PreferForward, remove BaseObstacleCritic, adde ObstacleFootprintCritic + ObstacleFootprintCritic.scale: 0.08 # was 0.02 + PathAlign.scale: 32.0 + GoalAlign.scale: 24.0 + PathAlign.forward_point_distance: 0.05 # was 0.1 + 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 + #TwirlingCritic.scale: 0.02 # was 1.0 + PreferForward.penalty: 1.0 + PreferForward.scale: 5.0 + Oscillation.scale: 20.0 local_costmap: local_costmap: