506 lines
18 KiB
YAML
506 lines
18 KiB
YAML
slam_toolbox:
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ros__parameters:
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# Plugin params
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solver_plugin: solver_plugins::CeresSolver
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ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
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ceres_preconditioner: SCHUR_JACOBI
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ceres_trust_strategy: LEVENBERG_MARQUARDT
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ceres_dogleg_type: TRADITIONAL_DOGLEG
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ceres_loss_function: None
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# ROS Parameters
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odom_frame: odom
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map_frame: map
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base_frame: base_footprint
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#scan_topic: /scan
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scan_topic: /scan_filtered
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use_map_saver: true
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mode: mapping #localization
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# if you'd like to immediately start continuing a map at a given pose
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# or at the dock, but they are mutually exclusive, if pose is given
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# will use pose
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#map_file_name: test_steve
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#map_start_pose: [0.0, 0.0, 0.0]
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#map_start_at_dock: true
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debug_logging: false
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throttle_scans: 1
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transform_publish_period: 0.02 #if 0 never publishes odometry
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map_update_interval: 5.0
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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
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max_laser_range: 20.0 #for rastering images
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minimum_time_interval: 0.5
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transform_timeout: 0.2
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tf_buffer_duration: 30.
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stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
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enable_interactive_mode: true
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# General Parameters
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use_scan_matching: true
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use_scan_barycenter: true
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minimum_travel_distance: 0.5
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minimum_travel_heading: 0.5
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scan_buffer_size: 10
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scan_buffer_maximum_scan_distance: 10.0
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link_match_minimum_response_fine: 0.1
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link_scan_maximum_distance: 1.5
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loop_search_maximum_distance: 3.0
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do_loop_closing: true
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loop_match_minimum_chain_size: 10
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loop_match_maximum_variance_coarse: 3.0
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loop_match_minimum_response_coarse: 0.35
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loop_match_minimum_response_fine: 0.45
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# Correlation Parameters - Correlation Parameters
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correlation_search_space_dimension: 0.5
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correlation_search_space_resolution: 0.01
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correlation_search_space_smear_deviation: 0.1
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# Correlation Parameters - Loop Closure Parameters
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loop_search_space_dimension: 8.0
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loop_search_space_resolution: 0.05
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loop_search_space_smear_deviation: 0.03
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# Scan Matcher Parameters
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distance_variance_penalty: 0.5
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angle_variance_penalty: 1.0
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fine_search_angle_offset: 0.00349
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coarse_search_angle_offset: 0.349
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coarse_angle_resolution: 0.0349
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minimum_angle_penalty: 0.9
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minimum_distance_penalty: 0.5
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use_response_expansion: true
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amcl:
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ros__parameters:
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use_sim_time: True
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alpha1: 0.2
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alpha2: 0.2
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alpha3: 0.2
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alpha4: 0.2
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alpha5: 0.2
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base_frame_id: "base_footprint"
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beam_skip_distance: 0.5
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beam_skip_error_threshold: 0.9
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beam_skip_threshold: 0.3
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do_beamskip: false
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global_frame_id: "map"
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lambda_short: 0.1
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laser_likelihood_max_dist: 2.0
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laser_max_range: 7.0 #was 100.0
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laser_min_range: -1.0
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laser_model_type: "likelihood_field"
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max_beams: 60
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max_particles: 2000
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min_particles: 500
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odom_frame_id: "odom"
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pf_err: 0.05
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pf_z: 0.99
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recovery_alpha_fast: 0.0
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recovery_alpha_slow: 0.0
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resample_interval: 1
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robot_model_type: "nav2_amcl::DifferentialMotionModel"
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save_pose_rate: 0.5
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sigma_hit: 0.2
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tf_broadcast: true
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transform_tolerance: 1.0
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update_min_a: 0.2
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update_min_d: 0.25
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z_hit: 0.5
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z_max: 0.05
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z_rand: 0.5
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z_short: 0.05
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scan_topic: scan_filtered
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bt_navigator:
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ros__parameters:
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use_sim_time: True
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global_frame: map
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robot_base_frame: base_link
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odom_topic: /odometry/filtered
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bt_loop_duration: 10
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default_server_timeout: 20
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# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
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# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
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# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
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# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
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plugin_lib_names:
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- nav2_compute_path_to_pose_action_bt_node
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- nav2_compute_path_through_poses_action_bt_node
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- nav2_smooth_path_action_bt_node
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- nav2_follow_path_action_bt_node
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- nav2_spin_action_bt_node
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- nav2_wait_action_bt_node
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- nav2_assisted_teleop_action_bt_node
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- nav2_back_up_action_bt_node
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- nav2_drive_on_heading_bt_node
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- nav2_clear_costmap_service_bt_node
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- nav2_is_stuck_condition_bt_node
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- nav2_goal_reached_condition_bt_node
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- nav2_goal_updated_condition_bt_node
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- nav2_globally_updated_goal_condition_bt_node
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- nav2_is_path_valid_condition_bt_node
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- nav2_initial_pose_received_condition_bt_node
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- nav2_reinitialize_global_localization_service_bt_node
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- nav2_rate_controller_bt_node
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- nav2_distance_controller_bt_node
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- nav2_speed_controller_bt_node
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- nav2_truncate_path_action_bt_node
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- nav2_truncate_path_local_action_bt_node
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- nav2_goal_updater_node_bt_node
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- nav2_recovery_node_bt_node
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- nav2_pipeline_sequence_bt_node
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- nav2_round_robin_node_bt_node
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- nav2_transform_available_condition_bt_node
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- nav2_time_expired_condition_bt_node
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- nav2_path_expiring_timer_condition
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- nav2_distance_traveled_condition_bt_node
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- nav2_single_trigger_bt_node
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- nav2_goal_updated_controller_bt_node
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- nav2_is_battery_low_condition_bt_node
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- nav2_navigate_through_poses_action_bt_node
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- nav2_navigate_to_pose_action_bt_node
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- nav2_remove_passed_goals_action_bt_node
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- nav2_planner_selector_bt_node
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- nav2_controller_selector_bt_node
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- nav2_goal_checker_selector_bt_node
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- nav2_controller_cancel_bt_node
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- nav2_path_longer_on_approach_bt_node
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- nav2_wait_cancel_bt_node
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- nav2_spin_cancel_bt_node
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- nav2_back_up_cancel_bt_node
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- nav2_assisted_teleop_cancel_bt_node
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- nav2_drive_on_heading_cancel_bt_node
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- nav2_is_battery_charging_condition_bt_node
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bt_navigator_navigate_through_poses_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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bt_navigator_navigate_to_pose_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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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: 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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# failure_tolerance: 0.3
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# progress_checker_plugin: "progress_checker"
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# goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
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# controller_plugins: ["FollowPath"]
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# # Progress checker parameters
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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 parameters
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# #precise_goal_checker:
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# # plugin: "nav2_controller::SimpleGoalChecker"
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# # xy_goal_tolerance: 0.25
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# # yaw_goal_tolerance: 0.25
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# # stateful: True
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# general_goal_checker:
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# stateful: True
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# plugin: "nav2_controller::SimpleGoalChecker"
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# xy_goal_tolerance: 0.25
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# yaw_goal_tolerance: 0.25
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# # DWB parameters
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# FollowPath:
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# plugin: "dwb_core::DWBLocalPlanner"
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# debug_trajectory_details: True
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# min_vel_x: -0.1
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# min_vel_y: 0.0
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# max_vel_x: 0.26
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# max_vel_y: 0.0
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# max_vel_theta: 1.0
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# min_speed_xy: 0.0
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# max_speed_xy: 0.26
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# min_speed_theta: 0.0
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# # Add high threshold velocity for turtlebot 3 issue.
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# # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
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# acc_lim_x: 2.5
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# acc_lim_y: 0.0
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# acc_lim_theta: 3.2
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# decel_lim_x: -2.5
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# decel_lim_y: 0.0
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# decel_lim_theta: -3.2
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# vx_samples: 20
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# vy_samples: 5
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# vtheta_samples: 20
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# sim_time: 1.7
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# linear_granularity: 0.05
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# angular_granularity: 0.025
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# transform_tolerance: 0.2
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# xy_goal_tolerance: 0.25
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# trans_stopped_velocity: 0.25
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# short_circuit_trajectory_evaluation: True
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# stateful: True
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# critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "ObstacleFootprint", "PreferForward"]
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# BaseObstacle.scale: 0.02
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# PathAlign.scale: 32.0
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# PathAlign.forward_point_distance: 0.1
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# GoalAlign.scale: 24.0
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# GoalAlign.forward_point_distance: 0.1
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# PathDist.scale: 32.0
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# GoalDist.scale: 24.0
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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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local_costmap:
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local_costmap:
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ros__parameters:
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update_frequency: 5.0
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publish_frequency: 2.0
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global_frame: odom
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robot_base_frame: base_link
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use_sim_time: True
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rolling_window: true
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width: 3
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height: 3
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resolution: 0.02 # was 0.05 ; this param control the resolution how many meters is 1 pixel on the map
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#robot_radius: 0.22
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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] ]"
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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: 0.65 # 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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publish_voxel_map: True
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origin_z: 0.0
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z_resolution: 0.05
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z_voxels: 16
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max_obstacle_height: 2.0
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mark_threshold: 0
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observation_sources: rplidar oakd
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rplidar:
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topic: /scan_filtered
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: "LaserScan"
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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oak-d: # no frame set, uses frame from message
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topic: /stereo/points
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max_obstacle_height: 1.5
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min_obstacle_height: 0.02
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obstacle_max_range: 3.0
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obstacle_min_range: 0.0
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raytrace_max_range: 3.2
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raytrace_min_range: 0.0
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clearing: True
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marking: True
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data_type: "PointCloud2"
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static_layer:
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plugin: "nav2_costmap_2d::StaticLayer"
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map_subscribe_transient_local: True
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always_send_full_costmap: True
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global_costmap:
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global_costmap:
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ros__parameters:
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update_frequency: 1.0
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publish_frequency: 1.0
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global_frame: map
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robot_base_frame: base_link
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use_sim_time: True
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#robot_radius: 0.22
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footprint: "[ [0.18, 0.255], [0.18, -0.255], [-0.54, -0.165], [-0.54, 0.165] ]" # gave another points for the polygon
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resolution: 0.05
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track_unknown_space: true
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plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
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obstacle_layer:
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plugin: "nav2_costmap_2d::ObstacleLayer"
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enabled: True
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observation_sources: scan
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scan:
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topic: /scan_filtered
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: "LaserScan"
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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static_layer:
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plugin: "nav2_costmap_2d::StaticLayer"
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map_subscribe_transient_local: True
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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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always_send_full_costmap: True
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map_server:
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ros__parameters:
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use_sim_time: True
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# Overridden in launch by the "map" launch configuration or provided default value.
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# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
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yaml_filename: ""
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map_saver:
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ros__parameters:
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use_sim_time: True
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save_map_timeout: 5.0
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free_thresh_default: 0.25
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occupied_thresh_default: 0.65
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map_subscribe_transient_local: True
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# planner_server:
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# ros__parameters:
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# expected_planner_frequency: 20.0
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# use_sim_time: True
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# planner_plugins: ["GridBased"]
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# GridBased:
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# plugin: "nav2_navfn_planner/NavfnPlanner"
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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
|
|
tolerance: 0.1
|
|
|
|
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 |