202 lines
8.7 KiB
YAML
202 lines
8.7 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: 50.0
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behavior_plugins: ["backup", "spin", "rotate", "translateX", "moveCoords", "approachAcorns", "rotateAcorns"]
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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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rotate:
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plugin: "toid::SimpleRotateBehavior"
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max_angular_accel: 4.0
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max_angular_decel: 1.0
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translateX:
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plugin: "toid::SimpleTranslateXBehavior"
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moveCoords:
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plugin: "toid::MoveCoords"
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approachAcorns:
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plugin: "toid::ApproachAcorns"
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kphi: 1.2
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kdelta: 2.0
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lambda: 3.0
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debug_marker: true
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rotateAcorns:
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plugin: "toid::RotateAcorns"
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local_frame: map
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global_frame: map
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robot_base_frame: base_footprint
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enable_stamped_cmd_vel: true
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transform_tolerance: 0.1
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simulate_ahead_time: 0.2
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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: 5.0
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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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footprint: "[[-0.045, 0.15], [0.255, 0.15], [0.255, -0.15], [-0.045, -0.15]]"
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footprint_padding: 0.02
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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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footprint_clearing_enabled: true
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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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footprint_clearing_enabled: true
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cost_scaling_factor: 6.0
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inflation_radius: 0.40
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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: "[[-0.045, 0.15], [0.255, 0.15], [0.255, -0.15], [-0.045, -0.15]]"
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footprint_padding: 0.01
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#robot_radius: 0.18
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global_frame: map
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robot_base_frame: base_footprint
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rolling_window: true
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width: 1
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height: 1
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resolution: 0.01
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introspection_mode: "disabled"
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plugins: ["static_layer", "rival_layer", "inflation_layer"]
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static_layer:
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plugin: "nav2_costmap_2d::StaticLayer"
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footprint_clearing_enabled: true
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map_subscribe_transient_local: True
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rival_layer:
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plugin: "toid::RivalLayer"
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rival_size: 0.15
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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: 0.40
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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: 0.02
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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_smac_planner::SmacPlannerLattice" # In Iron and older versions, "/" was used instead of "::"
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allow_unknown: true # Allow traveling in unknown space
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tolerance: 0.05 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
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max_iterations: 1000000 # Maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
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max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution
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max_planning_time: 5.0 # Max time in s for planner to plan, smooth
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analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach.
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analytic_expansion_max_length: 0.1 # For Hybrid/Lattice nodes The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
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analytic_expansion_max_cost: 50.0 # The maximum single cost for any part of an analytic expansion to contain and be valid, except when necessary on approach to goal
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analytic_expansion_max_cost_override: false # Whether or not to override the maximum cost setting if within critical distance to goal (ie probably required)
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downsample_obstacle_heuristic: true # Downsample the obstacle map dynamic programming distance expansion heuristic to speed up search at the cost of some path quality
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use_quadratic_cost_penalty: false # Use quadratic cost penalty for traversal and heuristic cost computations rather than linear
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reverse_penalty: 1.0 # Penalty to apply if motion is reversing, must be => 1
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change_penalty: 0.00 # Penalty to apply if motion is changing directions (L to R), must be >= 0
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non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1
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cost_penalty: 2.5 # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
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rotation_penalty: 4.0 # Penalty to apply to in-place rotations, if minimum control set contains them
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retrospective_penalty: 0.015
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lookup_table_size: 1.0 # Size of the dubin/reeds-sheep distance window to cache, in meters.
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cache_obstacle_heuristic: false # Cache the obstacle map dynamic programming distance expansion heuristic between subsequent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
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allow_reverse_expansion: true # If true, allows the robot to use the primitives to expand in the mirrored opposite direction of the current robot's orientation (to reverse).
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coarse_search_resolution: 1 # Number of bins to skip when doing a coarse search for the path. Only used for all_direction goal heading mode.
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goal_heading_mode: "DEFAULT" # DEFAULT, BIDIRECTIONAL, ALL_DIRECTION
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smooth_path: True # If true, does a simple and quick smoothing post-processing to the path
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smoother:
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max_iterations: 1000
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w_smooth: 0.3
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w_data: 0.2
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tolerance: 1.0e-10
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do_refinement: true
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refinement_num: 2
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controller_server:
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ros__parameters:
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controller_frequency: 100.0
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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: 5.0
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goal_checker:
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plugin: "nav2_controller::SimpleGoalChecker"
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xy_goal_tolerance: 0.04
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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: "toid::SpinnerController"
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primary_controller:
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plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
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desired_linear_vel: 0.50
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lookahead_dist: 0.1
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min_lookahead_dist: 0.08
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max_lookahead_dist: 0.15
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lookahead_time: 0.2
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rotate_to_heading_angular_vel: 0.8
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use_velocity_scaled_lookahead_dist: true
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min_approach_linear_velocity: 0.1
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approach_velocity_scaling_dist: 0.6
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use_collision_detection: true
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max_allowed_time_to_collision_up_to_carrot: 0.3
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use_regulated_linear_velocity_scaling: true
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use_fixed_curvature_lookahead: false
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curvature_lookahead_dist: 0.1
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use_cost_regulated_linear_velocity_scaling: true
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cost_scaling_dist: 0.1
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cost_scaling_gain: 1.5
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regulated_linear_scaling_min_radius: 0.9
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regulated_linear_scaling_min_speed: 0.25
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use_rotate_to_heading: false
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allow_reversing: true
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max_angular_accel: 3.2
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min_distance_to_obstacle: 0.0
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max_robot_pose_search_dist: 0.5
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use_cancel_deceleration: true
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stateful: true
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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' ] |