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@ -254,52 +254,139 @@ bt_navigator_navigate_to_pose_rclcpp_node:
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# RotateToGoal.scale: 32.0
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# RotateToGoal.slowing_factor: 5.0
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# RotateToGoal.lookahead_time: -1.0
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# controller_server:
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# ros__parameters:
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# use_sim_time: True
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# controller_frequency: 100.0 # was 20.0
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# min_x_velocity_threshold: 0.001
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# min_y_velocity_threshold: 0.5
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# min_theta_velocity_threshold: 0.001
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# progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
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# goal_checker_plugins: ["goal_checker"]
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# controller_plugins: ["FollowPath"]
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# progress_checker:
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# plugin: "nav2_controller::SimpleProgressChecker"
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# required_movement_radius: 0.5
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# movement_time_allowance: 10.0
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# goal_checker:
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# plugin: "nav2_controller::SimpleGoalChecker"
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# xy_goal_tolerance: 0.25 # was 0.25
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# yaw_goal_tolerance: 0.25 # was 0.25
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# stateful: True
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# FollowPath:
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# plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
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# desired_linear_vel: 0.5
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# lookahead_dist: 0.6
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# min_lookahead_dist: 0.3
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# max_lookahead_dist: 0.9
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# lookahead_time: 1.5
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# rotate_to_heading_angular_vel: 1.8
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# transform_tolerance: 0.1
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# use_velocity_scaled_lookahead_dist: false
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# min_approach_linear_velocity: 0.007 # was 0.05
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# approach_velocity_scaling_dist: 0.6
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# use_collision_detection: true
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# max_allowed_time_to_collision_up_to_carrot: 1.0
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# use_regulated_linear_velocity_scaling: true
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# use_fixed_curvature_lookahead: false
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# curvature_lookahead_dist: 0.25
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# use_cost_regulated_linear_velocity_scaling: false
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# regulated_linear_scaling_min_radius: 0.9
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# regulated_linear_scaling_min_speed: 0.25
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# use_rotate_to_heading: false # was true, cannot be set together with allow_reversing
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# allow_reversing: true # was false
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# rotate_to_heading_min_angle: 0.785
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# max_angular_accel: 3.2
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# max_robot_pose_search_dist: 10.0
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# use_interpolation: true # was false
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controller_server:
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ros__parameters:
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use_sim_time: True
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controller_frequency: 100.0 # was 20.0
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min_x_velocity_threshold: 0.001
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min_y_velocity_threshold: 0.5
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min_theta_velocity_threshold: 0.001
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progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
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goal_checker_plugins: ["goal_checker"]
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controller_plugins: ["FollowPath"]
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progress_checker:
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plugin: "nav2_controller::SimpleProgressChecker"
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required_movement_radius: 0.5
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movement_time_allowance: 10.0
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goal_checker:
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plugin: "nav2_controller::SimpleGoalChecker"
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xy_goal_tolerance: 0.25 # was 0.25
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yaw_goal_tolerance: 0.25 # was 0.25
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stateful: True
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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_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
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desired_linear_vel: 0.5
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lookahead_dist: 0.6
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min_lookahead_dist: 0.3
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max_lookahead_dist: 0.9
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lookahead_time: 1.5
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rotate_to_heading_angular_vel: 1.8
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plugin: "nav2_mppi_controller::MPPIController"
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time_steps: 56
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model_dt: 0.05
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batch_size: 1000 # was 2000
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vx_std: 0.2
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vy_std: 0.2
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wz_std: 0.4
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vx_max: 0.5
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vx_min: -0.35
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vy_max: 0.5
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wz_max: 1.9
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iteration_count: 1
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prune_distance: 1.7
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transform_tolerance: 0.1
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use_velocity_scaled_lookahead_dist: false
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min_approach_linear_velocity: 0.007 # was 0.05
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approach_velocity_scaling_dist: 0.6
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use_collision_detection: true
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max_allowed_time_to_collision_up_to_carrot: 1.0
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use_regulated_linear_velocity_scaling: true
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use_fixed_curvature_lookahead: false
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curvature_lookahead_dist: 0.25
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use_cost_regulated_linear_velocity_scaling: false
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regulated_linear_scaling_min_radius: 0.9
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regulated_linear_scaling_min_speed: 0.25
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use_rotate_to_heading: false # was true, cannot be set together with allow_reversing
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allow_reversing: true # was false
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rotate_to_heading_min_angle: 0.785
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max_angular_accel: 3.2
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max_robot_pose_search_dist: 10.0
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use_interpolation: true # was false
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temperature: 0.3
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gamma: 0.015
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motion_model: "DiffDrive"
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visualize: false
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reset_period: 1.0 # (only in Humble)
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regenerate_noises: false
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TrajectoryVisualizer:
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trajectory_step: 5
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time_step: 3
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AckermannConstraints:
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min_turning_r: 0.1 # was0.2 # only active for ackermann
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critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
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ConstraintCritic:
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enabled: true
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cost_power: 1
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cost_weight: 4.0
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GoalCritic:
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enabled: true
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cost_power: 1
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cost_weight: 5.0
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threshold_to_consider: 1.4
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GoalAngleCritic:
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enabled: true
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cost_power: 1
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cost_weight: 3.0
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threshold_to_consider: 0.5
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PreferForwardCritic:
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enabled: true
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cost_power: 1
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cost_weight: 10.0 # was 5.0
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threshold_to_consider: 0.5
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ObstaclesCritic:
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enabled: true
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cost_power: 1
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repulsion_weight: 1.5
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critical_weight: 20.0
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consider_footprint: true # was false
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collision_cost: 10000.0
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collision_margin_distance: 0.1
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near_goal_distance: 0.5
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inflation_radius: 0.35 #was0.55 # (only in Humble)
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cost_scaling_factor: 10.0 # (only in Humble)
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PathAlignCritic:
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enabled: true
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cost_power: 1
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cost_weight: 14.0
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max_path_occupancy_ratio: 0.05
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trajectory_point_step: 3
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threshold_to_consider: 0.5
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offset_from_furthest: 20
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use_path_orientations: true # was false
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PathFollowCritic:
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enabled: true
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cost_power: 1
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cost_weight: 5.0
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offset_from_furthest: 5
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threshold_to_consider: 1.4
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PathAngleCritic:
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enabled: true
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cost_power: 1
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cost_weight: 2.0
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offset_from_furthest: 4
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threshold_to_consider: 0.5
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max_angle_to_furthest: 1.0
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mode: 0
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# TwirlingCritic:
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# enabled: true
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# twirling_cost_power: 1
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# twirling_cost_weight: 10.0
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local_costmap:
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@ -319,8 +406,8 @@ local_costmap:
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plugins: ["voxel_layer", "inflation_layer"]
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 2.0 # was 3.0 ;exponential rate at which the obstacle cost drops off (default: 10)
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inflation_radius: 0.70 # max. distance from an obstacle at which costs are incurred for planning paths.
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cost_scaling_factor: 10.0 # was 3.0 ;exponential rate at which the obstacle cost drops off (default: 10)
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inflation_radius: 0.35 # max. distance from an obstacle at which costs are incurred for planning paths.
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voxel_layer:
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plugin: "nav2_costmap_2d::VoxelLayer"
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enabled: True
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@ -390,7 +477,7 @@ global_costmap:
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 10.0 # was 3.0
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inflation_radius: 0.55
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inflation_radius: 0.35
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always_send_full_costmap: True
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map_server:
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@ -418,27 +505,67 @@ map_saver:
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# tolerance: 0.5
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# use_astar: false
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# allow_unknown: true
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# planner_server:
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# ros__parameters:
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# planner_plugins: ["GridBased"]
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# use_sim_time: True
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# GridBased:
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# plugin: "nav2_smac_planner/SmacPlanner2D"
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# tolerance: 0.125 # tolerance for planning if unable to reach exact pose, in meters
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# downsample_costmap: false # whether or not to downsample the map
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# downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
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# allow_unknown: true # allow traveling in unknown space
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# max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
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# max_on_approach_iterations: 1000 # maximum number of iterations to attempt to reach goal once in tolerance
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# max_planning_time: 2.0 # max time in s for planner to plan, smooth
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# 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*.
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# 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)
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# smoother:
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# max_iterations: 1000
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# w_smooth: 0.3
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# w_data: 0.2
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# tolerance: 0.1
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planner_server:
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ros__parameters:
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planner_plugins: ["GridBased"]
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use_sim_time: True
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GridBased:
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plugin: "nav2_smac_planner/SmacPlanner2D"
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tolerance: 0.125 # tolerance for planning if unable to reach exact pose, in meters
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downsample_costmap: false # whether or not to downsample the map
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downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
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allow_unknown: true # allow traveling in unknown space
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max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
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max_on_approach_iterations: 1000 # maximum number of iterations to attempt to reach goal once in tolerance
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max_planning_time: 2.0 # max time in s for planner to plan, smooth
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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*.
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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)
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plugin: "nav2_smac_planner/SmacPlannerHybrid"
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downsample_costmap: false # whether or not to downsample the map
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downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
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tolerance: 0.25 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
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allow_unknown: true # allow traveling in unknown space
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max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
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max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution
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max_planning_time: 5.0 # max time in s for planner to plan, smooth
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motion_model_for_search: "DUBIN" # Hybrid-A* Dubin, Redds-Shepp
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angle_quantization_bins: 72 # Number of angle bins for search
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analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach.
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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
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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
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analytic_expansion_max_cost_override: false # Whether or not to override the maximum cost setting if within critical distance to goal (ie probably required)
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minimum_turning_radius: 0.20 # was 0.40 # minimum turning radius in m of path / vehicle
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reverse_penalty: 1.0 #was2.0 # Penalty to apply if motion is reversing, must be => 1
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change_penalty: 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0
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non_straight_penalty: 2.0 #was 1.2 # Penalty to apply if motion is non-straight, must be => 1
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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.
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retrospective_penalty: 0.015
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lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters.
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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.
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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.
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use_quadratic_cost_penalty: True #was False
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downsample_obstacle_heuristic: True
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allow_primitive_interpolation: False
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smooth_path: True # If true, does a simple and quick smoothing post-processing to the path
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smoother:
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max_iterations: 1000
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w_smooth: 0.3
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w_data: 0.2
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tolerance: 0.1
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tolerance: 1.0e-10
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do_refinement: true
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refinement_num: 2
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smoother_server:
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ros__parameters:
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