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
    default_nav_to_pose_bt_xml: /home/sunrise/yiliao_ws/install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml
    default_nav_through_poses_bt_xml: /home/sunrise/yiliao_ws/install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/nav_through_poses_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_regulated_pure_pursuit_controller::RegulatedPurePursuitController
      desired_linear_vel: 0.3
      max_angular_vel: 1.9
      min_angular_vel: 0.2
      lookahead_dist: 0.5
      min_lookahead_dist: 0.3
      max_lookahead_dist: 0.8
      lookahead_time: 1.5
      rotate_to_heading_angular_vel: 0.8
      transform_tolerance: 0.5
      use_velocity_scaled_lookahead_dist: True
      min_approach_linear_vel: 0.1
      approach_velocity_scaling_dist: 0.5
      use_collision_detection: True
      max_allowed_time_to_collision: 1.0
      use_cost_regulated_linear_velocity_scaling: True
      cost_scaling_dist: 0.6
      cost_scaling_gain: 1.0
      regulated_linear_scaling_min_radius: 0.35
      regulated_linear_scaling_min_speed: 0.1
      use_rotate_to_heading: False
      rotate_to_heading_min_angle: 0.5
      max_robot_pose_search_dist: 10.0
      use_interpolation: False
      allow_reversing: 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: 5.0
        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
      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: 5.0
        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: 10000
      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: 0.5
      reverse_penalty: 1.3
      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:
    - backup
    backup:
      plugin: nav2_behaviors/BackUp
      backup_dist: 0.8
      backup_speed: 0.18
    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
