361 lines
12 KiB
YAML
361 lines
12 KiB
YAML
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: 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::OmniMotionModel"
|
|
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
|
|
# set_initial_pose: false
|
|
# always_reset_initial_pose: false
|
|
# first_map_only: false
|
|
# initial_pose:
|
|
# x: 0.0
|
|
# y: 0.0
|
|
# z: 0.0
|
|
# yaw: 0.0
|
|
|
|
bt_navigator:
|
|
ros__parameters:
|
|
use_sim_time: True
|
|
global_frame: map
|
|
robot_base_frame: base_link
|
|
odom_topic: /odom
|
|
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
|
|
# pure_pursuit parameters
|
|
FollowPath:
|
|
# plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
|
|
plugin: "omni_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
|
|
desired_linear_vel: 1.5
|
|
lookahead_dist: 0.6
|
|
min_lookahead_dist: 0.1
|
|
max_lookahead_dist: 1.0
|
|
lookahead_time: 0.5
|
|
rotate_to_heading_angular_vel: 1.8
|
|
transform_tolerance: 0.1
|
|
use_velocity_scaled_lookahead_dist: true
|
|
min_approach_linear_velocity: 0.05
|
|
approach_velocity_scaling_dist: 1.0
|
|
use_collision_detection: true
|
|
max_allowed_time_to_collision_up_to_carrot: 1.0
|
|
use_regulated_linear_velocity_scaling: true
|
|
use_cost_regulated_linear_velocity_scaling: false
|
|
regulated_linear_scaling_min_radius: 0.1
|
|
regulated_linear_scaling_min_speed: 0.25
|
|
use_rotate_to_heading: true
|
|
rotate_to_heading_min_angle: 0.785
|
|
max_angular_accel: 3.2
|
|
max_robot_pose_search_dist: 10.0
|
|
use_interpolation: false
|
|
cost_scaling_dist: 0.3
|
|
cost_scaling_gain: 1.0
|
|
inflation_cost_scaling_factor: 3.0
|
|
|
|
|
|
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: 0.05
|
|
robot_radius: 0.1
|
|
plugins: ["voxel_layer", "inflation_layer"]
|
|
inflation_layer:
|
|
plugin: "nav2_costmap_2d::InflationLayer"
|
|
cost_scaling_factor: 3.0
|
|
inflation_radius: 0.50
|
|
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: 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
|
|
use_sim_time: True
|
|
robot_radius: 0.1
|
|
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: 0.50
|
|
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: true
|
|
# allow_unknown: 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: false # 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: 1.0e-10
|
|
|
|
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: "OPEN_LOOP"
|
|
max_velocity: [1.0, 1.0, 1.0]
|
|
min_velocity: [-1.0, -1.0, -1.0]
|
|
max_accel: [2.5, 2.5, 3.2]
|
|
max_decel: [-2.5, -2.5, -3.2]
|
|
odom_topic: "odom"
|
|
odom_duration: 0.1
|
|
deadband_velocity: [0.0, 0.0, 0.0]
|
|
velocity_timeout: 1.0
|