240 lines
6.5 KiB
YAML
240 lines
6.5 KiB
YAML
bt_navigator:
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ros__parameters:
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global_frame: map
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robot_base_frame: base_footprint
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odom_topic: /odom
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bt_loop_duration: 10
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default_server_timeout: 20
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wait_for_service_timeout: 1000
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action_server_result_timeout: 900.0
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navigators: ["navigate_to_pose"]
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navigate_to_pose:
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plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
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error_code_names:
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- compute_path_error_code
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- follow_path_error_code
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behavior_server:
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ros__parameters:
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local_costmap_topic: local_costmap/costmap_raw
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global_costmap_topic: global_costmap/costmap_raw
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local_footprint_topic: local_costmap/published_footprint
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global_footprint_topic: global_costmap/published_footprint
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cycle_frequency: 10.0
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behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
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spin:
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plugin: "nav2_behaviors::Spin"
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backup:
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plugin: "nav2_behaviors::BackUp"
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drive_on_heading:
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plugin: "nav2_behaviors::DriveOnHeading"
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wait:
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plugin: "nav2_behaviors::Wait"
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assisted_teleop:
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plugin: "nav2_behaviors::AssistedTeleop"
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local_frame: odom
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global_frame: map
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robot_base_frame: base_footprint
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transform_tolerance: 0.1
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simulate_ahead_time: 2.0
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max_rotational_vel: 1.0
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min_rotational_vel: 0.1
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rotational_acc_lim: 3.2
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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_footprint
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robot_radius: 0.17
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track_unknown_space: false
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rolling_window: false
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plugins: ["static_layer", "inflation_layer"]
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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: 3.0
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inflation_radius: 0.25
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always_send_full_costmap: True
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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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footprint: "[[-0.13, 0.16], [0.13, 0.16], [0.13, -0.16], [-0.13, -0.16]]"
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global_frame: odom
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robot_base_frame: base_footprint
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rolling_window: true
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width: 2
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height: 2
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resolution: 0.025
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introspection_mode: "disabled"
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plugins: ["static_layer", "inflation_layer"]
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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: 3.0
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inflation_radius: 0.25
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planner_server:
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ros__parameters:
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allow_partial_planning: false
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expected_planner_frequency: 20.0
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costmap_update_timeout: 1.0
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introspection_mode: "disabled"
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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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controller_server:
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ros__parameters:
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controller_frequency: 20.0
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costmap_update_timeout: 0.3
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failure_tolerance: 0.3
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odom_topic: "odom"
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odom_duration: 0.3
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progress_checker_plugins: ["progress_checker"]
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goal_checker_plugins: ["goal_checker"]
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controller_plugins: ["FollowPath"]
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enable_stamped_cmd_vel: True
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progress_checker:
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plugin: "nav2_controller::SimpleProgressChecker"
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required_movement_radius: 0.05
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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: 0.10
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yaw_goal_tolerance: 0.10
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stateful: True
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FollowPath:
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plugin: "nav2_mppi_controller::MPPIController"
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time_steps: 56
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model_dt: 0.05
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batch_size: 2000
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ax_max: 3.0
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ax_min: -3.0
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ay_max: 3.0
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ay_min: -3.0
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az_max: 3.5
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vx_std: 0.2
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vy_std: 0.2
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wz_std: 0.4
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vx_max: 0.5
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vx_min: -0.35
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vy_max: 0.5
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wz_max: 1.9
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iteration_count: 1
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prune_distance: 1.7
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transform_tolerance: 0.1
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temperature: 0.3
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gamma: 0.015
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motion_model: "DiffDrive"
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visualize: true
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regenerate_noises: true
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TrajectoryVisualizer:
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trajectory_step: 5
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time_step: 3
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AckermannConstraints:
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min_turning_r: 0.2
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critics: [
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"ConstraintCritic", "CostCritic", "GoalCritic",
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"GoalAngleCritic", "PathAlignCritic", "PathFollowCritic",
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"PathAngleCritic", "PreferForwardCritic"]
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ConstraintCritic:
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enabled: true
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cost_power: 1
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cost_weight: 4.0
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GoalCritic:
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enabled: true
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cost_power: 1
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cost_weight: 5.0
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threshold_to_consider: 1.4
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GoalAngleCritic:
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enabled: true
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cost_power: 1
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cost_weight: 3.0
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threshold_to_consider: 0.5
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PreferForwardCritic:
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enabled: true
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cost_power: 1
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cost_weight: 5.0
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threshold_to_consider: 0.5
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CostCritic:
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enabled: true
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cost_power: 1
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cost_weight: 3.81
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near_collision_cost: 253
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critical_cost: 300.0
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consider_footprint: false
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collision_cost: 1000000.0
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near_goal_distance: 1.0
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trajectory_point_step: 2
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PathAlignCritic:
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enabled: true
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cost_power: 1
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cost_weight: 14.0
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max_path_occupancy_ratio: 0.05
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trajectory_point_step: 4
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threshold_to_consider: 0.5
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offset_from_furthest: 20
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use_path_orientations: false
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PathFollowCritic:
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enabled: true
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cost_power: 1
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cost_weight: 5.0
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offset_from_furthest: 5
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threshold_to_consider: 1.4
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PathAngleCritic:
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enabled: true
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cost_power: 1
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cost_weight: 2.0
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offset_from_furthest: 4
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threshold_to_consider: 0.5
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max_angle_to_furthest: 1.0
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mode: 0
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lifecycle_manager:
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ros__parameters:
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autostart: true
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node_names: ['controller_server','planner_server','behavior_server','map_server','bt_navigator' ]
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controller_manager:
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ros__parameters:
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update_rate: 20 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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diffbot_base_controller:
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ros__parameters:
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type: diff_drive_controller/DiffDriveController
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left_wheel_names: ["drivewhl_l_joint"]
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right_wheel_names: ["drivewhl_r_joint"]
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wheel_separation: 0.29
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wheel_radius: 0.04
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use_stamped_vel: false
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wheel_separation_multiplier: 1.0
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left_wheel_radius_multiplier: 1.0
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right_wheel_radius_multiplier: 1.0
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publish_rate: 50.0
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odom_frame_id: odom
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base_frame_id: base_footprint
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open_loop: true
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enable_odom_tf: true
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publish_limited_velocity: true
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cmd_vel_timeout: 1.0 |