init

toid_navigation/params/toid_costmap_params.yaml

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+global_costmap:
+  ros__parameters:
+    update_frequency: 1.0
+    publish_frequency: 1.0
+    global_frame: map
+    robot_base_frame: base_link
+    robot_radius: 0.17
+    resolution: 0.01
+    track_unknown_space: false
+    rolling_window: false
+    plugins: ["static_layer", "inflation_layer"]
+    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: 0.23
+    always_send_full_costmap: True
+
+lifecycle_manager:
+  ros__parameters:
+    autostart: true
+    node_names: ['map_server', 'global_costmap']

toid_navigation/params/toid_diffdrive_params.yaml

@@ -0,0 +1,14 @@
+diffdrive_controller:
+  ros__parameters:
+    type: diff_drive_controller/DiffDriveController
+    left_wheel_names: ["drivewhl_l_joint"]
+    right_wheel_names: ["drivewhl_r_joint"]
+    
+    enable_odom_tf: true
+    odom_frame_id: odom
+    base_frame_id: base_link
+
+    open_loop: true 
+
+    wheel_separation: 0.5
+    wheel_radius: 0.1

toid_navigation/params/toid_general_params.yaml

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+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_footprint
+      robot_radius: 0.17
+      resolution: 0.01
+      track_unknown_space: false
+      rolling_window: false
+      plugins: ["static_layer", "inflation_layer"]
+      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: 0.23
+      always_send_full_costmap: True
+
+lifecycle_manager:
+  ros__parameters:
+    autostart: true
+    node_names: ['map_server']
+
+
+controller_manager:
+  ros__parameters:
+    update_rate: 10  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+diffbot_base_controller:
+  ros__parameters:
+    type: diff_drive_controller/DiffDriveController
+
+    left_wheel_names: ["drivewhl_l_joint"]
+    right_wheel_names: ["drivewhl_r_joint"]
+
+    wheel_separation: 0.29
+
+    wheel_radius: 0.04
+
+    wheel_separation_multiplier: 1.0
+    left_wheel_radius_multiplier: 1.0
+    right_wheel_radius_multiplier: 1.0
+
+    publish_rate: 50.0
+    odom_frame_id: odom
+    base_frame_id: base_footprint
+    pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
+    twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
+
+    open_loop: true
+    enable_odom_tf: true
+
+    cmd_vel_timeout: 0.5
+
+    # Velocity and acceleration limits
+    # Whenever a min_* is unspecified, default to -max_*
+    linear.x.has_velocity_limits: true
+    linear.x.has_acceleration_limits: true
+    linear.x.has_jerk_limits: false
+    linear.x.max_velocity: 1.0
+    linear.x.min_velocity: -1.0
+    linear.x.max_acceleration: 1.0
+    linear.x.max_jerk: 0.0
+    linear.x.min_jerk: 0.0
+
+    angular.z.has_velocity_limits: true
+    angular.z.has_acceleration_limits: true
+    angular.z.has_jerk_limits: false
+    angular.z.max_velocity: 1.0
+    angular.z.min_velocity: -1.0
+    angular.z.max_acceleration: 1.0
+    angular.z.min_acceleration: -1.0
+    angular.z.max_jerk: 0.0
+    angular.z.min_jerk: 0.0