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: 0.5 # was 0.25 yaw_goal_tolerance: 0.5 # 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: false # 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 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