slam_toolbox:
  ros__parameters:
    use_sim_time: False

bt_navigator:
  ros__parameters:
    use_sim_time: False
    global_frame: map
    robot_base_frame: base_footprint
    odom_topic: /odom
    bt_loop_duration: 50
    default_server_timeout: 20
    # 阿克曼底盘专用 BT：移除 Spin，恢复行为 = 清代价地图 → 后退 → 等待
    default_nav_to_pose_bt_xml: /home/sunrise/yiliao_ws/install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml
    plugin_lib_names:
      - nav2_compute_path_to_pose_action_bt_node
      - nav2_compute_path_through_poses_action_bt_node
      - nav2_smooth_path_action_bt_node
      - nav2_follow_path_action_bt_node
      - nav2_spin_action_bt_node
      - nav2_wait_action_bt_node
      - nav2_back_up_action_bt_node
      - nav2_drive_on_heading_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_globally_updated_goal_condition_bt_node
      - nav2_is_path_valid_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_truncate_path_local_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_path_expiring_timer_condition
      - 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
      - nav2_controller_cancel_bt_node
      - nav2_path_longer_on_approach_bt_node
      - nav2_wait_cancel_bt_node
      - nav2_spin_cancel_bt_node
      - nav2_back_up_cancel_bt_node
      - nav2_drive_on_heading_cancel_bt_node

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: False

controller_server:
  ros__parameters:
    use_sim_time: False
    controller_frequency: 20.0
    FollowPath:
      plugin: "nav2_mppi_controller::MPPIController"
      time_steps: 20
      model_dt: 0.05
      batch_size: 200
      vx_std: 0.2
      vy_std: 0.0
      wz_std: 0.8
      vx_max: 0.5
      vx_min: -0.35
      vy_max: 0.0
      wz_max: 1.9
      iteration_count: 1
      temperature: 0.3
      gamma: 0.015
      motion_model: "Ackermann"
      visualize: false
      TrajectoryVisualizer:
        trajectory_step: 5
        time_step: 3
      AckermannConstraints:
        min_turning_r: 0.4
      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: 2.0
      GoalAngleCritic:
        enabled: true
        cost_power: 1
        cost_weight: 3.0
        threshold_to_consider: 0.5
      PreferForwardCritic:
        enabled: true
        cost_power: 1
        cost_weight: 2.0
        threshold_to_consider: 0.5
      CostCritic:
        enabled: true
        cost_power: 1
        cost_weight: 8.0
        critical_cost: 300.0
        consider_footprint: true
        collision_cost: 1000000.0
        near_goal_distance: 1.0
        trajectory_point_step: 2
      PathAlignCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0  # PathAlignCritic
        max_path_occupancy_ratio: 0.05
        trajectory_point_step: 4
        threshold_to_consider: 0.5
        offset_from_furthest: 10
        use_path_orientations: false
      PathFollowCritic:
        enabled: true
        cost_power: 1
        cost_weight: 3.0
        offset_from_furthest: 5
        threshold_to_consider: 1.4
      PathAngleCritic:
        enabled: true
        cost_power: 1
        cost_weight: 1.0
        offset_from_furthest: 4
        threshold_to_consider: 0.5
        max_angle_to_furthest: 1.0
        forward_preference: true

controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: False

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 2.0
      transform_tolerance: 2.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: False
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      footprint: "[[0.14, 0.085],
        [0.14, -0.085],
        [-0.14, -0.085],
        [-0.14, 0.085]]"
      footprint_padding: 0.02
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.3
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: False
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: False

global_costmap:
  global_costmap:
    ros__parameters:
      use_sim_time: False
      transform_tolerance: 2.0
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: False
      footprint: "[[0.14, 0.085],
        [0.14, -0.085],
        [-0.14, -0.085],
        [-0.14, 0.085]]"
      footprint_padding: 0.02
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      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: 0.3
      always_send_full_costmap: True
  global_costmap_client:
    ros__parameters:
      use_sim_time: False
  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: False

map_saver:
  ros__parameters:
    use_sim_time: False
    save_map_timeout: 5.0
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: True

planner_server:
  ros__parameters:
    planner_plugins: ["GridBased"]
    use_sim_time: False

    GridBased:
      plugin: "nav2_smac_planner/SmacPlannerHybrid"
      downsample_costmap: false
      downsampling_factor: 1
      tolerance: 0.25
      allow_unknown: true
      max_iterations: 100000
      max_on_approach_iterations: 1000
      max_planning_time: 5.0
      motion_model_for_search: "REEDS_SHEPP"
      angle_quantization_bins: 72
      analytic_expansion_ratio: 2.0
      analytic_expansion_max_length: 3.0
      minimum_turning_radius: 0.40
      reverse_penalty: 1.3     # 后退惩罚，越小越愿意后退（默认 2.0，设为 1.3 允许灵活倒车）
      change_penalty: 0.0
      non_straight_penalty: 0.0
      cost_penalty: 5.0
      retrospective_penalty: 0.015
      lookup_table_size: 5.0
      cache_obstacle_heuristic: false
      viz_expansions: false
      smooth_path: True

      smoother:
        max_iterations: 1000
        w_smooth: 0.4
        w_data: 0.2
        tolerance: 1.0e-10
        do_refinement: true
        refinement_num: 4

planner_server_rclcpp_node:
  ros__parameters:
    use_sim_time: False

smoother_server:
  ros__parameters:
    use_sim_time: False
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: True

behavior_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"    # 需保留以匹配默认 BT XML
    backup:
      plugin: "nav2_behaviors/BackUp"
      backup_dist: 0.8
      backup_speed: 0.18
    wait:
      plugin: "nav2_behaviors/Wait"
      wait_duration: 0.5
    global_frame: odom
    robot_base_frame: base_link
    transform_tolerance: 2.0
    use_sim_time: False
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

robot_state_publisher:
  ros__parameters:
    use_sim_time: False

waypoint_follower:
  ros__parameters:
    loop_rate: 20
    use_sim_time: False
    stop_on_failure: false
    waypoint_task_executor_plugin: "wait_at_waypoint"
    wait_at_waypoint:
      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
      enabled: True
      waypoint_pause_duration: 200
