amcl: ros__parameters: use_sim_time: False alpha1: 0.2 alpha2: 0.2 alpha3: 0.2 alpha4: 0.2 alpha5: 0.2 base_frame_id: "base_footprint" beam_skip_distance: 0.5 beam_skip_error_threshold: 0.9 beam_skip_threshold: 0.3 do_beamskip: false global_frame_id: "map" lambda_short: 0.1 laser_likelihood_max_dist: 2.0 laser_max_range: -1.0 # was 100 before: setting now to laser reported range (8m) laser_min_range: -1.0 laser_model_type: "likelihood_field" max_beams: 60 max_particles: 2000 min_particles: 500 odom_frame_id: "odom" pf_err: 0.05 pf_z: 0.99 recovery_alpha_fast: 0.0 recovery_alpha_slow: 0.0 resample_interval: 1 robot_model_type: "nav2_amcl::DifferentialMotionModel" save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: true transform_tolerance: 1.0 update_min_a: 0.2 update_min_d: 0.25 z_hit: 0.5 z_max: 0.05 z_rand: 0.5 z_short: 0.05 scan_topic: scan bt_navigator: ros__parameters: use_sim_time: False global_frame: map robot_base_frame: base_link odom_topic: /odometry bt_loop_duration: 10 default_server_timeout: 20 # '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 # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. plugin_lib_names: - nav2_compute_path_to_pose_action_bt_node - nav2_compute_path_through_poses_action_bt_node - nav2_smooth_path_action_bt_node - nav2_follow_path_action_bt_node - nav2_spin_action_bt_node - nav2_wait_action_bt_node - nav2_assisted_teleop_action_bt_node - nav2_back_up_action_bt_node - nav2_drive_on_heading_bt_node - nav2_clear_costmap_service_bt_node - nav2_is_stuck_condition_bt_node - nav2_goal_reached_condition_bt_node - nav2_goal_updated_condition_bt_node - nav2_globally_updated_goal_condition_bt_node - nav2_is_path_valid_condition_bt_node - nav2_initial_pose_received_condition_bt_node - nav2_reinitialize_global_localization_service_bt_node - nav2_rate_controller_bt_node - nav2_distance_controller_bt_node - nav2_speed_controller_bt_node - nav2_truncate_path_action_bt_node - nav2_truncate_path_local_action_bt_node - nav2_goal_updater_node_bt_node - nav2_recovery_node_bt_node - nav2_pipeline_sequence_bt_node - nav2_round_robin_node_bt_node - nav2_transform_available_condition_bt_node - nav2_time_expired_condition_bt_node - nav2_path_expiring_timer_condition - nav2_distance_traveled_condition_bt_node - nav2_single_trigger_bt_node - nav2_goal_updated_controller_bt_node - nav2_is_battery_low_condition_bt_node - nav2_navigate_through_poses_action_bt_node - nav2_navigate_to_pose_action_bt_node - nav2_remove_passed_goals_action_bt_node - nav2_planner_selector_bt_node - nav2_controller_selector_bt_node - nav2_goal_checker_selector_bt_node - nav2_controller_cancel_bt_node - nav2_path_longer_on_approach_bt_node - nav2_wait_cancel_bt_node - nav2_spin_cancel_bt_node - nav2_back_up_cancel_bt_node - nav2_assisted_teleop_cancel_bt_node - nav2_drive_on_heading_cancel_bt_node - nav2_is_battery_charging_condition_bt_node bt_navigator_navigate_through_poses_rclcpp_node: ros__parameters: use_sim_time: False bt_navigator_navigate_to_pose_rclcpp_node: ros__parameters: use_sim_time: False # controller_server: # ros__parameters: # use_sim_time: False # controller_frequency: 30.0 # min_x_velocity_threshold: 0.001 # min_y_velocity_threshold: 0.001 # min_theta_velocity_threshold: 0.001 # failure_tolerance: 0.3 # progress_checker_plugin: "progress_checker" # goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" # controller_plugins: ["FollowPath"] # # Progress checker parameters # progress_checker: # plugin: "nav2_controller::SimpleProgressChecker" # required_movement_radius: 0.5 # movement_time_allowance: 10.0 # # Goal checker parameters # #precise_goal_checker: # # plugin: "nav2_controller::SimpleGoalChecker" # # xy_goal_tolerance: 0.25 # # yaw_goal_tolerance: 0.25 # # stateful: True # general_goal_checker: # stateful: True # plugin: "nav2_controller::SimpleGoalChecker" # xy_goal_tolerance: 0.25 # yaw_goal_tolerance: 0.25 # # DWB parameters # FollowPath: # # plugin: "dwb_core::DWBLocalPlanner" # # trying roation_shim_controller # #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 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 # #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: # 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 # FollowPath: # plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" # desired_linear_vel: 0.8 # was 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: 0.4 # was 0.8 # transform_tolerance: 0.1 # 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: false # set to false because can't be set together with allow_reversing # allow_reversing: true # rotate_to_heading_min_angle: 0.785 # max_angular_accel: 1.2 # 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: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True min_vel_x: 0.0 min_vel_y: 0.0 max_vel_x: 0.26 max_vel_y: 0.0 max_vel_theta: 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", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] BaseObstacle.scale: 0.02 PathAlign.scale: 32.0 GoalAlign.scale: 24.0 PathAlign.forward_point_distance: 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 local_costmap: local_costmap: ros__parameters: update_frequency: 20.0 # was 5.0 publish_frequency: 5.0 # was 2.0 global_frame: odom robot_base_frame: base_link use_sim_time: False rolling_window: true width: 3 height: 3 resolution: 0.05 #robot_radius: 0.50 footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon plugins: ["voxel_layer", "inflation_layer", "denoise_layer"] denoise_layer: plugin: "nav2_costmap_2d::DenoiseLayer" enabled: True inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 8.0 # was 3.0 inflation_radius: 0.44 voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True publish_voxel_map: True origin_z: 0.0 z_resolution: 0.05 z_voxels: 16 max_obstacle_height: 2.0 mark_threshold: 0 observation_sources: scan scan: topic: /scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" raytrace_max_range: 8.0 # was 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True always_send_full_costmap: True global_costmap: global_costmap: ros__parameters: update_frequency: 1.0 publish_frequency: 1.0 global_frame: map robot_base_frame: base_link use_sim_time: False #robot_radius: 0.50 footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon resolution: 0.05 track_unknown_space: true plugins: ["static_layer", "obstacle_layer", "inflation_layer", "denoise_layer"] denoise_layer: plugin: "nav2_costmap_2d::DenoiseLayer" enabled: True obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True observation_sources: scan scan: topic: /scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" raytrace_max_range: 8.0 # was 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 8.0 # was 3.0 inflation_radius: 0.44 always_send_full_costmap: True map_server: ros__parameters: use_sim_time: False # 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: "/repo/map_floor_save.yaml" map_saver: ros__parameters: use_sim_time: False save_map_timeout: 5.0 free_thresh_default: 0.25 occupied_thresh_default: 0.65 map_subscribe_transient_local: True # planner_server: # ros__parameters: # expected_planner_frequency: 20.0 # use_sim_time: False # planner_plugins: ["GridBased"] # GridBased: # plugin: "nav2_navfn_planner/NavfnPlanner" # #plugin: "nav2_smac_planner/SmacPlanner2D" # tolerance: 0.5 # #use_astar: false # allow_unknown: true # trying smac hybrid planner planner_server: ros__parameters: planner_plugins: ["GridBased"] use_sim_time: True GridBased: plugin: "nav2_smac_planner/SmacPlannerHybrid" downsample_costmap: false # whether or not to downsample the map downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm) tolerance: 0.25 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found. allow_unknown: true # allow traveling in unknown space max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution max_planning_time: 5.0 # max time in s for planner to plan, smooth motion_model_for_search: "DUBIN" #was DUBIN # Hybrid-A* Dubin, Redds-Shepp angle_quantization_bins: 72 # Number of angle bins for search analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach. analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting minimum_turning_radius: 0.02 # was 0.40 # minimum turning radius in m of path / vehicle reverse_penalty: 1.3 # was 2.0 # Penalty to apply if motion is reversing, must be => 1 change_penalty: 0.5 # was 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0 non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1 cost_penalty: 3.0 # was 2 before # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable. retrospective_penalty: 0.015 lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters. cache_obstacle_heuristic: true #was fasle # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static. debug_visualizations: false # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning) and the path's footprints on the /planned_footprints topic. WARNING: heavy to compute and to display, for debug only as it degrades the performance. use_quadratic_cost_penalty: False downsample_obstacle_heuristic: True allow_primitive_interpolation: False smooth_path: True # If true, does a simple and quick smoothing post-processing to the path smoother: max_iterations: 1000 w_smooth: 0.3 w_data: 0.2 tolerance: 1.0e-10 do_refinement: true refinement_num: 2 smoother_server: ros__parameters: use_sim_time: False smoother_plugins: ["simple_smoother"] simple_smoother: plugin: "nav2_smoother::SimpleSmoother" tolerance: 1.0e-10 max_its: 1000 do_refinement: True behavior_server: ros__parameters: 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", spin: plugin: "nav2_behaviors/Spin" backup: plugin: "nav2_behaviors/BackUp" drive_on_heading: plugin: "nav2_behaviors/DriveOnHeading" wait: plugin: "nav2_behaviors/Wait" assisted_teleop: plugin: "nav2_behaviors/AssistedTeleop" global_frame: odom robot_base_frame: base_link transform_tolerance: 0.1 use_sim_time: False 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: False waypoint_follower: ros__parameters: use_sim_time: False loop_rate: 20 stop_on_failure: false waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" enabled: True waypoint_pause_duration: 200 velocity_smoother: ros__parameters: use_sim_time: False smoothing_frequency: 20.0 scale_velocities: False #feedback: "OPEN_LOOP" feedback: "CLOSED_LOOP" max_velocity: [0.26, 0.0, 1.0] min_velocity: [-0.26, 0.0, -1.0] max_accel: [2.5, 0.0, 3.2] max_decel: [-2.5, 0.0, -3.2] odom_topic: "odometry" odom_duration: 0.1 deadband_velocity: [0.0, 0.0, 0.0] velocity_timeout: 1.0