-recoveries_server:
+behavior_server:
ros__parameters:
- costmap_topic: local_costmap/costmap_raw
- footprint_topic: local_costmap/published_footprint
+ 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
- recovery_plugins: ["spin", "backup", "drive_on_heading", "wait"]
+ behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
- plugin: "nav2_behaviors/Spin"
+ plugin: "nav2_behaviors::Spin"
backup:
- plugin: "nav2_behaviorss/BackUp"
+ plugin: "nav2_behaviors::BackUp"
drive_on_heading:
- plugin: "nav2_behaviors/DriveOnHeading"
+ plugin: "nav2_behaviors::DriveOnHeading"
wait:
- plugin: "nav2_behaviorss/Wait"
- global_frame: odom
+ plugin: "nav2_behaviors::Wait"
+ assisted_teleop:
+ plugin: "nav2_behaviors::AssistedTeleop"
+ local_frame: odom
+ global_frame: map
robot_base_frame: twil_origin
- transform_timeout: 0.1
+ transform_tolerance: 0.1
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
odom_topic: /twist_mrac_linearizing_controller/odom
bt_loop_duration: 10
default_server_timeout: 20
- enable_groot_monitoring: True
- groot_zmq_publisher_port: 1666
- groot_zmq_server_port: 1667
+ wait_for_service_timeout: 1000
+ action_server_result_timeout: 900.0
+ 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_follow_path_action_bt_node
- - nav2_back_up_action_bt_node
- - nav2_spin_action_bt_node
- - nav2_wait_action_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_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_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_distance_traveled_condition_bt_node
- - nav2_single_trigger_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
+
+ # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
+ # Built-in plugins are added automatically
+ # plugin_lib_names: []
+
+ error_code_names:
+ - compute_path_error_code
+ - follow_path_error_code
+
+ enable_groot_monitoring: True
+ groot_zmq_publisher_port: 1666
+ groot_zmq_server_port: 1667
controller_server:
ros__parameters:
controller_frequency: 20.0
+ costmap_update_timeout: 0.30
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
- progress_checker_plugin: "progress_checker"
+ progress_checker_plugin: ["progress_checker"]
goal_checker_plugins: ["general_goal_checker"]
controller_plugins: ["FollowPath"]
+ use_realtime_priority: false
# Progress checker parameters
progress_checker:
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
+ plugin: "nav2_mppi_controller::MPPIController"
+ time_steps: 56
+ model_dt: 0.05
+ batch_size: 2000
+ ax_max: 3.0
+ ax_min: -3.0
+ ay_max: 3.0
+ ay_min: -3.0
+ az_max: 3.5
+ vx_std: 0.2
+ vy_std: 0.2
+ wz_std: 0.4
+ vx_max: 0.5
+ vx_min: -0.35
+ vy_max: 0.5
+ wz_max: 1.9
+ iteration_count: 1
+ prune_distance: 1.7
+ transform_tolerance: 0.1
+ temperature: 0.3
+ gamma: 0.015
+ motion_model: "DiffDrive"
+ visualize: true
+ regenerate_noises: true
+ TrajectoryVisualizer:
+ trajectory_step: 5
+ time_step: 3
+ AckermannConstraints:
+ min_turning_r: 0.2
+ critics: [
+ "ConstraintCritic", "CostCritic", "GoalCritic",
+ "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic",
+ "PathAngleCritic", "PreferForwardCritic"]
+ ConstraintCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 4.0
+ GoalCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 5.0
+ threshold_to_consider: 1.4
+ GoalAngleCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 3.0
+ threshold_to_consider: 0.5
+ PreferForwardCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 5.0
+ threshold_to_consider: 0.5
+ CostCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 3.81
+ near_collision_cost: 253
+ critical_cost: 300.0
+ consider_footprint: false
+ collision_cost: 1000000.0
+ near_goal_distance: 1.0
+ trajectory_point_step: 2
+ PathAlignCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 14.0
+ max_path_occupancy_ratio: 0.05
+ trajectory_point_step: 4
+ threshold_to_consider: 0.5
+ offset_from_furthest: 20
+ use_path_orientations: false
+ PathFollowCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 5.0
+ offset_from_furthest: 5
+ threshold_to_consider: 1.4
+ PathAngleCritic:
+ enabled: true
+ cost_power: 1
+ cost_weight: 2.0
+ offset_from_furthest: 4
+ threshold_to_consider: 0.5
+ max_angle_to_furthest: 1.0
+ mode: 0
local_costmap:
local_costmap:
cost_scaling_factor: 3.0
inflation_radius: 0.35
static_layer:
+ plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
always_send_full_costmap: True
ros__parameters:
expected_planner_frequency: 20.0
planner_plugins: ["GridBased"]
+ costmap_update_timeout: 1.0
GridBased:
plugin: "nav2_navfn_planner::NavfnPlanner"
tolerance: 0.5
ros__parameters:
loop_rate: 20
stop_on_failure: false
+ action_server_result_timeout:900.00
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
projects / twil.git / commitdiff