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https://github.com/bjoernellens1/cps_rmp220_support.git
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update: try mppi controller
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@ -141,56 +141,140 @@ controller_server:
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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: "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: "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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# # 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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local_costmap:
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local_costmap:
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