amcl: ros__parameters: use_sim_time: True 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: 100.0 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: True global_frame: map robot_base_frame: base_link odom_topic: /odometry/filtered 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: True bt_navigator_navigate_to_pose_rclcpp_node: ros__parameters: use_sim_time: True # controller_server: # ros__parameters: # 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 # 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" # debug_trajectory_details: True # min_vel_x: -0.1 # 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 # # Add high threshold velocity for turtlebot 3 issue. # # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 # 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", "ObstacleFootprint", "PreferForward"] # 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 controller_server: ros__parameters: use_sim_time: True controller_frequency: 100.0 # was 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 # was 0.25 yaw_goal_tolerance: 0.25 # was 0.25 stateful: True FollowPath: 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 use_velocity_scaled_lookahead_dist: false min_approach_linear_velocity: 0.007 # was 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 # was true, cannot be set together with allow_reversing allow_reversing: true # was false rotate_to_heading_min_angle: 0.785 max_angular_accel: 3.2 max_robot_pose_search_dist: 10.0 use_interpolation: true # was false local_costmap: local_costmap: ros__parameters: update_frequency: 5.0 publish_frequency: 2.0 global_frame: odom robot_base_frame: base_link use_sim_time: True rolling_window: true width: 3 height: 3 resolution: 0.05 #robot_radius: 0.22 footprint: "[ [0.18, 0.200], [0.18, -0.200], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" plugins: ["voxel_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 10.0 # was 3.0 inflation_radius: 0.55 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: rplidar oakd rplidar: topic: /scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" raytrace_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 oak-d: # no frame set, uses frame from message topic: /stereo/points max_obstacle_height: 1.5 min_obstacle_height: 0.02 obstacle_max_range: 3.0 obstacle_min_range: 0.0 raytrace_max_range: 3.2 raytrace_min_range: 0.0 clearing: True marking: True data_type: "PointCloud2" 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: True #robot_radius: 0.22 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"] 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: 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: 10.0 # was 3.0 inflation_radius: 0.55 always_send_full_costmap: True map_server: ros__parameters: use_sim_time: True # 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: "" map_saver: ros__parameters: use_sim_time: True 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: True # planner_plugins: ["GridBased"] # GridBased: # plugin: "nav2_navfn_planner/NavfnPlanner" # tolerance: 0.5 # use_astar: false # allow_unknown: true planner_server: ros__parameters: planner_plugins: ["GridBased"] use_sim_time: True GridBased: plugin: "nav2_smac_planner/SmacPlanner2D" tolerance: 0.125 # tolerance for planning if unable to reach exact pose, in meters 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) 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 to attempt to reach goal once in tolerance max_planning_time: 2.0 # max time in s for planner to plan, smooth cost_travel_multiplier: 2.0 # Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*. use_final_approach_orientation: true # Whether to set the final path pose at the goal's orientation to the requested orientation (false) or in line with the approach angle so the robot doesn't rotate to heading (true) smoother: max_iterations: 1000 w_smooth: 0.3 w_data: 0.2 tolerance: 1e-10 smoother_server: ros__parameters: use_sim_time: True 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: 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: true 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: True waypoint_follower: ros__parameters: use_sim_time: True 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: True smoothing_frequency: 20.0 scale_velocities: False feedback: "CLOSED_LOOP" # was OPEN_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/filtered" odom_duration: 0.1 # was 0.1 deadband_velocity: [0.0, 0.0, 0.0] velocity_timeout: 1.0