346 lines
11 KiB
YAML
346 lines
11 KiB
YAML
amcl:
|
|
ros__parameters:
|
|
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::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
|
|
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:
|
|
- 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_are_error_codes_active_condition_bt_node
|
|
- nav2_would_a_controller_recovery_help_condition_bt_node
|
|
- nav2_would_a_planner_recovery_help_condition_bt_node
|
|
- nav2_would_a_smoother_recovery_help_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
|
|
error_code_names:
|
|
- compute_path_error_code
|
|
- follow_path_error_code
|
|
|
|
controller_server:
|
|
ros__parameters:
|
|
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_plugins: ["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: 0.0
|
|
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"]
|
|
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
|
|
|
|
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: 0.22
|
|
plugins: ["voxel_layer", "inflation_layer"]
|
|
inflation_layer:
|
|
plugin: "nav2_costmap_2d::InflationLayer"
|
|
cost_scaling_factor: 3.0
|
|
inflation_radius: 0.55
|
|
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:
|
|
# '<robot_namespace>' keyword shall be replaced with 'namespace' where user defined.
|
|
# It doesn't need to start with '/'
|
|
topic: <robot_namespace>/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: 0.22
|
|
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:
|
|
# '<robot_namespace>' keyword shall be replaced with 'namespace' where user defined.
|
|
# It doesn't need to start with '/'
|
|
topic: <robot_namespace>/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: 0.55
|
|
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"]
|
|
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
|
|
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:
|
|
smoothing_frequency: 20.0
|
|
scale_velocities: False
|
|
feedback: "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: "odom"
|
|
odom_duration: 0.1
|
|
deadband_velocity: [0.0, 0.0, 0.0]
|
|
velocity_timeout: 1.0
|