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66442b449b
cps_rmp220_support/config/nav2_params.yaml
Björn Ellensohn 66442b449b update
2023-10-09 17:28:59 +02:00

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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
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