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 # 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 controller_server: ros__parameters: controller_frequency: 50.0 # was 30.0 # ! must be float! FollowPath: 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 transform_tolerance: 0.1 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 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" 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. 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 inflation_radius: 0.35 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: 0.1 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" # 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 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: 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