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a06bdbc18c
cps_rmp220_support/config/nav2_params.yaml
Björn Ellensohn a06bdbc18c update
2023-09-08 10:25:05 +02:00

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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
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
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