80 lines
2.2 KiB
YAML
80 lines
2.2 KiB
YAML
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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resolution: 0.01
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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: 0.23
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always_send_full_costmap: 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: ['map_server']
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controller_manager:
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ros__parameters:
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update_rate: 10 # 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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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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pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
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twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
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open_loop: true
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enable_odom_tf: true
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cmd_vel_timeout: 0.5
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# Velocity and acceleration limits
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# Whenever a min_* is unspecified, default to -max_*
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linear.x.has_velocity_limits: true
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linear.x.has_acceleration_limits: true
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linear.x.has_jerk_limits: false
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linear.x.max_velocity: 1.0
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linear.x.min_velocity: -1.0
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linear.x.max_acceleration: 1.0
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linear.x.max_jerk: 0.0
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linear.x.min_jerk: 0.0
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angular.z.has_velocity_limits: true
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angular.z.has_acceleration_limits: true
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angular.z.has_jerk_limits: false
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angular.z.max_velocity: 1.0
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angular.z.min_velocity: -1.0
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angular.z.max_acceleration: 1.0
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angular.z.min_acceleration: -1.0
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angular.z.max_jerk: 0.0
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angular.z.min_jerk: 0.0 |