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slam_toolbox :
ros__parameters :
# Plugin params
solver_plugin : solver_plugins::CeresSolver
ceres_linear_solver : SPARSE_NORMAL_CHOLESKY
ceres_preconditioner : SCHUR_JACOBI
ceres_trust_strategy : LEVENBERG_MARQUARDT
ceres_dogleg_type : TRADITIONAL_DOGLEG
ceres_loss_function : None
# ROS Parameters
odom_frame : odom
map_frame : map
base_frame : base_footprint
#scan_topic: /scan
scan_topic : /scan_filtered
use_map_saver : true
mode : mapping #localization
# if you'd like to immediately start continuing a map at a given pose
# or at the dock, but they are mutually exclusive, if pose is given
# will use pose
#map_file_name: test_steve
#map_start_pose: [0.0, 0.0, 0.0]
#map_start_at_dock: true
debug_logging : false
throttle_scans : 1
transform_publish_period : 0.02 #if 0 never publishes odometry
map_update_interval : 5.0
resolution : 0.02 # was 0.05 ; resolution equals to how many meters are 1 pixel on the map. So the lower value the higher the resoltion
max_laser_range : 20.0 #for rastering images
minimum_time_interval : 0.5
transform_timeout : 0.2
tf_buffer_duration : 30 .
stack_size_to_use : 40000000 #// program needs a larger stack size to serialize large maps
enable_interactive_mode : true
# General Parameters
use_scan_matching : true
use_scan_barycenter : true
minimum_travel_distance : 0.5
minimum_travel_heading : 0.5
scan_buffer_size : 10
scan_buffer_maximum_scan_distance : 10.0
link_match_minimum_response_fine : 0.1
link_scan_maximum_distance : 1.5
loop_search_maximum_distance : 3.0
do_loop_closing : true
loop_match_minimum_chain_size : 10
loop_match_maximum_variance_coarse : 3.0
loop_match_minimum_response_coarse : 0.35
loop_match_minimum_response_fine : 0.45
# Correlation Parameters - Correlation Parameters
correlation_search_space_dimension : 0.5
correlation_search_space_resolution : 0.01
correlation_search_space_smear_deviation : 0.1
# Correlation Parameters - Loop Closure Parameters
loop_search_space_dimension : 8.0
loop_search_space_resolution : 0.05
loop_search_space_smear_deviation : 0.03
# Scan Matcher Parameters
distance_variance_penalty : 0.5
angle_variance_penalty : 1.0
fine_search_angle_offset : 0.00349
coarse_search_angle_offset : 0.349
coarse_angle_resolution : 0.0349
minimum_angle_penalty : 0.9
minimum_distance_penalty : 0.5
use_response_expansion : true
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 : 7.0 #was 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_filtered
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
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# 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
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controller_server :
ros__parameters :
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controller_frequency : 50.0 # was 30.0 # ! must be float!
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FollowPath :
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plugin : "nav2_mppi_controller::MPPIController"
time_steps : 56
model_dt : 0.05
batch_size : 1000 # was 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
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transform_tolerance : 0.1
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temperature : 0.3
gamma : 0.015
motion_model : "DiffDrive"
visualize : false
reset_period : 1.0 # (only in Humble)
regenerate_noises : false
TrajectoryVisualizer :
trajectory_step : 5
time_step : 3
AckermannConstraints :
min_turning_r : 0.1 # was0.2 # only active for ackermann
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 : 10.0 # was 5.0
threshold_to_consider : 0.5
ObstaclesCritic :
enabled : true
cost_power : 1
repulsion_weight : 1.5
critical_weight : 20.0
consider_footprint : true # was false
collision_cost : 10000.0
collision_margin_distance : 0.1
near_goal_distance : 0.5
inflation_radius : 0.35 #was0.55 # (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 : true # was 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
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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 : 0.02 # was 0.05 ; this param control the resolution how many meters is 1 pixel on the map
#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"
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cost_scaling_factor: 10.0 # was 3.0 ;exponential rate at which the obstacle cost drops off (default : 10 )
inflation_radius : 0.35 # max. distance from an obstacle at which costs are incurred for planning paths.
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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_filtered
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_filtered
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
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inflation_radius : 0.35
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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
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# 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: 0.1
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planner_server :
ros__parameters :
planner_plugins : [ "GridBased" ]
use_sim_time : True
GridBased :
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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" # 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
analytic_expansion_max_cost : true # The maximum single cost for any part of an analytic expansion to contain and be valid, except when necessary on approach to goal
analytic_expansion_max_cost_override : false # Whether or not to override the maximum cost setting if within critical distance to goal (ie probably required)
minimum_turning_radius : 0.20 # was 0.40 # minimum turning radius in m of path / vehicle
reverse_penalty : 1.0 #was2.0 # Penalty to apply if motion is reversing, must be => 1
change_penalty : 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0
non_straight_penalty : 2.0 #was 1.2 # Penalty to apply if motion is non-straight, must be => 1
cost_penalty : 2.0 # 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 false # 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 : True #was 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
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smoother :
max_iterations : 1000
w_smooth : 0.3
w_data : 0.2
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tolerance : 1.0e-10
do_refinement : true
refinement_num : 2
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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
