--- /dev/null
+amcl:
+ ros__parameters:
+ alpha1: 0.2
+ alpha2: 0.2
+ alpha3: 0.2
+ alpha4: 0.2
+ alpha5: 0.2
+ base_frame_id: "base_link"
+ 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: 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
+
+bt_navigator:
+ ros__parameters:
+ global_frame: map
+ robot_base_frame: base_link
+ odom_topic: /odom
+ bt_loop_duration: 10
+ default_server_timeout: 20
+ wait_for_service_timeout: 1000
+ action_server_result_timeout: 900.0
+ navigators: ["navigate_to_pose", "navigate_through_poses"]
+ navigate_to_pose:
+ plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
+ navigate_through_poses:
+ plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
+ # '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 is used to add custom BT plugins to the executor (vector of strings).
+ # Built-in plugins are added automatically
+ # plugin_lib_names: []
+
+ error_code_names:
+ - compute_path_error_code
+ - follow_path_error_code
+
+controller_server:
+ ros__parameters:
+ controller_frequency: 20.0
+ costmap_update_timeout: 0.30
+ min_x_velocity_threshold: 0.001
+ min_y_velocity_threshold: 0.0
+ min_theta_velocity_threshold: 0.001
+ failure_tolerance: 0.3
+ progress_checker_plugins: ["progress_checker"]
+ goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
+ controller_plugins: ["FollowPath"]
+ use_realtime_priority: false
+
+ # 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: 0.3
+ yaw_goal_tolerance: 0.35
+ FollowPath:
+ plugin: "nav2_mppi_controller::MPPIController"
+ time_steps: 56
+ model_dt: 0.05
+ batch_size: 2000
+ ax_max: 1.0
+ ax_min: -1.0
+ ay_max: 0.0
+ ay_min: 0.0
+ az_max: 1.5
+ vx_std: 0.2
+ vy_std: 0.2
+ wz_std: 0.4
+ vx_max: 0.5
+ vx_min: -0.2
+ vy_max: 0.5
+ wz_max: 1.0
+ iteration_count: 1
+ prune_distance: 1.7
+ transform_tolerance: 0.4
+ temperature: 0.3
+ gamma: 0.015
+ motion_model: "DiffDrive"
+ visualize: true
+ regenerate_noises: true
+ TrajectoryVisualizer:
+ trajectory_step: 5
+ time_step: 3
+ AckermannConstraints:
+ min_turning_r: 0.2
+ critics: [
+ "ConstraintCritic", "CostCritic", "GoalCritic",
+ "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic",
+ "PathAngleCritic", "PreferForwardCritic"]
+ ConstraintCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 4.0
+ GoalCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 5.0
+ threshold_to_consider: 1.4
+ GoalAngleCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 3.0
+ threshold_to_consider: 0.5
+ PreferForwardCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 5.0
+ threshold_to_consider: 0.5
+ CostCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 3.81
+ near_collision_cost: 253
+ critical_cost: 300.0
+ consider_footprint: false
+ collision_cost: 1000000.0
+ near_goal_distance: 1.0
+ trajectory_point_step: 2
+ PathAlignCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 14.0
+ max_path_occupancy_ratio: 0.05
+ trajectory_point_step: 4
+ threshold_to_consider: 0.5
+ offset_from_furthest: 20
+ use_path_orientations: false
+ PathFollowCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 5.0
+ offset_from_furthest: 5
+ threshold_to_consider: 1.4
+ PathAngleCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 2.0
+ offset_from_furthest: 4
+ threshold_to_consider: 0.5
+ max_angle_to_furthest: 1.0
+ mode: 0
+ # TwirlingCritic:
+ # enabled: true
+ # twirling_cost_power: 1
+ # twirling_cost_weight: 10.0
+
+local_costmap:
+ local_costmap:
+ ros__parameters:
+ update_frequency: 5.0
+ publish_frequency: 2.0
+ global_frame: odom
+ robot_base_frame: base_link
+ rolling_window: true
+ width: 3
+ height: 3
+ resolution: 0.05
+ robot_radius: 0.28
+ plugins: ["obstacle_layer", "inflation_layer"]
+ inflation_layer:
+ plugin: "nav2_costmap_2d::InflationLayer"
+ cost_scaling_factor: 3.0
+ inflation_radius: 0.70
+ obstacle_layer:
+ plugin: "nav2_costmap_2d::ObstacleLayer"
+ enabled: True
+ observation_sources: scan
+ scan:
+ topic: /scan
+ max_obstacle_height: 2.0
+ clearing: True
+ marking: True
+ data_type: "LaserScan"
+ raytrace_max_range: 3.0
+ raytrace_min_range: 0.0
+ obstacle_max_range: 2.5
+ obstacle_min_range: 0.0
+ static_layer:
+ plugin: "nav2_costmap_2d::StaticLayer"
+ map_subscribe_transient_local: True
+ always_send_full_costmap: True
+
+global_costmap:
+ global_costmap:
+ ros__parameters:
+ update_frequency: 1.0
+ publish_frequency: 1.0
+ global_frame: map
+ robot_base_frame: base_link
+ robot_radius: 0.28
+ 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
+ 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: 3.0
+ inflation_radius: 0.7
+ always_send_full_costmap: True
+
+# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
+# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
+# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
+# map_server:
+# ros__parameters:
+# yaml_filename: ""
+
+map_saver:
+ ros__parameters:
+ 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
+ planner_plugins: ["GridBased"]
+ costmap_update_timeout: 1.0
+ GridBased:
+ plugin: "nav2_navfn_planner::NavfnPlanner"
+ tolerance: 0.5
+ use_astar: false
+ allow_unknown: true
+
+smoother_server:
+ ros__parameters:
+ smoother_plugins: ["simple_smoother"]
+ simple_smoother:
+ plugin: "nav2_smoother::SimpleSmoother"
+ tolerance: 1.0e-10
+ max_its: 1000
+ do_refinement: True
+
+behavior_server:
+ ros__parameters:
+ local_costmap_topic: local_costmap/costmap_raw
+ global_costmap_topic: global_costmap/costmap_raw
+ local_footprint_topic: local_costmap/published_footprint
+ global_footprint_topic: global_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"
+ local_frame: odom
+ global_frame: map
+ robot_base_frame: base_link
+ transform_tolerance: 0.1
+ simulate_ahead_time: 2.0
+ max_rotational_vel: 1.0
+ min_rotational_vel: 0.4
+ rotational_acc_lim: 3.2
+
+waypoint_follower:
+ ros__parameters:
+ loop_rate: 20
+ stop_on_failure: false
+ action_server_result_timeout: 900.0
+ waypoint_task_executor_plugin: "wait_at_waypoint"
+ wait_at_waypoint:
+ plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+ enabled: True
+ waypoint_pause_duration: 200
+
+route_server:
+ ros__parameters:
+ # The graph_filepath does not need to be specified since it going to be set by defaults in launch.
+ # If you'd rather set it in the yaml, remove the default "graph" value in the launch file(s).
+ # file & provide full path to map below. If graph config or launch default is provided, it is used
+ # graph_filepath: $(find-pkg-share nav2_route)/graphs/aws_graph.geojson
+ boundary_radius_to_achieve_node: 1.0
+ radius_to_achieve_node: 2.0
+ smooth_corners: true
+ operations: ["AdjustSpeedLimit", "ReroutingService", "CollisionMonitor"]
+ ReroutingService:
+ plugin: "nav2_route::ReroutingService"
+ AdjustSpeedLimit:
+ plugin: "nav2_route::AdjustSpeedLimit"
+ CollisionMonitor:
+ plugin: "nav2_route::CollisionMonitor"
+ max_collision_dist: 3.0
+ edge_cost_functions: ["DistanceScorer", "CostmapScorer"]
+ DistanceScorer:
+ plugin: "nav2_route::DistanceScorer"
+ CostmapScorer:
+ plugin: "nav2_route::CostmapScorer"
+
+velocity_smoother:
+ ros__parameters:
+ smoothing_frequency: 20.0
+ stamp_smoothed_velocity_with_smoothing_time: False
+ scale_velocities: False
+ feedback: "OPEN_LOOP"
+ max_velocity: [0.5, 0.0, 2.0]
+ min_velocity: [-0.5, 0.0, -2.0]
+ max_accel: [2.5, 0.0, 3.2]
+ max_decel: [-2.5, 0.0, -3.2]
+ odom_topic: "odom"
+ odom_duration: 0.1
+ deadband_velocity: [0.0, 0.0, 0.0]
+ velocity_timeout: 1.0
+
+collision_monitor:
+ ros__parameters:
+ base_frame_id: "base_link"
+ odom_frame_id: "odom"
+ cmd_vel_in_topic: "cmd_vel_smoothed"
+ cmd_vel_out_topic: "cmd_vel"
+ state_topic: "collision_monitor_state"
+ transform_tolerance: 0.2
+ source_timeout: 1.0
+ base_shift_correction: True
+ stop_pub_timeout: 2.0
+ # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types,
+ # and robot footprint for "approach" action type.
+ polygons: ["FootprintApproach"]
+ FootprintApproach:
+ type: "polygon"
+ action_type: "approach"
+ footprint_topic: "/local_costmap/published_footprint"
+ time_before_collision: 1.2
+ simulation_time_step: 0.1
+ min_points: 6
+ visualize: False
+ enabled: True
+ observation_sources: ["scan"]
+ scan:
+ type: "scan"
+ topic: "scan"
+ min_height: 0.15
+ max_height: 2.0
+ enabled: True
+
+docking_server:
+ ros__parameters:
+ controller_frequency: 50.0
+ initial_perception_timeout: 5.0
+ wait_charge_timeout: 5.0
+ dock_approach_timeout: 30.0
+ undock_linear_tolerance: 0.05
+ undock_angular_tolerance: 0.1
+ max_retries: 3
+ base_frame: "base_link"
+ fixed_frame: "odom"
+ dock_backwards: false
+ dock_prestaging_tolerance: 0.5
+
+ # Types of docks
+ dock_plugins: ['simple_charging_dock']
+ simple_charging_dock:
+ plugin: 'opennav_docking::SimpleChargingDock'
+ docking_threshold: 0.05
+ staging_x_offset: -0.7
+ use_external_detection_pose: true
+ use_battery_status: false # true
+ use_stall_detection: false # true
+
+ external_detection_timeout: 1.0
+ external_detection_translation_x: -0.18
+ external_detection_translation_y: 0.0
+ external_detection_rotation_roll: -1.57
+ external_detection_rotation_pitch: -1.57
+ external_detection_rotation_yaw: 0.0
+ filter_coef: 0.1
+
+ # Dock instances
+ # The following example illustrates configuring dock instances.
+ # docks: ['home_dock'] # Input your docks here
+ # home_dock:
+ # type: 'simple_charging_dock'
+ # frame: map
+ # pose: [0.0, 0.0, 0.0]
+
+ controller:
+ k_phi: 3.0
+ k_delta: 2.0
+ v_linear_min: 0.15
+ v_linear_max: 0.15
+ use_collision_detection: true
+ costmap_topic: "local_costmap/costmap_raw"
+ footprint_topic: "local_costmap/published_footprint"
+ transform_tolerance: 0.1
+ projection_time: 5.0
+ simulation_step: 0.1
+ dock_collision_threshold: 0.3
+
+loopback_simulator:
+ ros__parameters:
+ base_frame_id: "base_link"
+ odom_frame_id: "odom"
+ map_frame_id: "map"
+ scan_frame_id: "base_scan" # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
+ update_duration: 0.02
+ scan_range_min: 0.05
+ scan_range_max: 30.0
+ scan_angle_min: -3.1415
+ scan_angle_max: 3.1415
+ scan_angle_increment: 0.02617
+ scan_use_inf: true
projects / a4wd3.git / commitdiff