diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index 89b6e4d..2e1e520 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -141,57 +141,141 @@ controller_server: # plugin: "dwb_core::DWBLocalPlanner" # trying roation_shim_controller - plugin: "nav2_rotation_shim_controller::RotationShimController" + #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: "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 + # # 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 + local_costmap: local_costmap: ros__parameters: