# ============================================================================ # planner.yaml — Nav2 minimal global planning stack # 节点: slam_toolbox + planner_server + global_costmap + local_costmap # 来源: gc_navigation2_slamtoolbox (slam + nav params) 剪裁 # ============================================================================ # --------------------------------------------------------------------------- # slam_toolbox — online_async 实时建图 → 发布 /map + map→odom transform # 来源: slam_toolbox_mapping.yaml # --------------------------------------------------------------------------- slam_toolbox: ros__parameters: use_sim_time: False # Solver solver_plugin: solver_plugins::CeresSolver ceres_linear_solver: SPARSE_NORMAL_CHOLESKY ceres_preconditioner: SCHUR_JACOBI ceres_trust_strategy: LEVENBERG_MARQUARDT ceres_dogleg_type: TRADITIONAL_DOGLEG ceres_loss_function: None # ROS base odom_frame: odom map_frame: map base_frame: base_link scan_topic: /scan mode: mapping use_map_saver: true # Debug & performance debug_logging: false throttle_scans: 1 transform_publish_period: 0.02 map_update_interval: 3.0 resolution: 0.05 min_laser_range: 0.15 max_laser_range: 20.0 minimum_time_interval: 0.5 transform_timeout: 0.2 tf_buffer_duration: 30.0 stack_size_to_use: 40000000 enable_interactive_mode: true # Mapping use_scan_matching: true use_scan_barycenter: true minimum_travel_distance: 0.5 minimum_travel_heading: 0.1 scan_buffer_size: 10 scan_buffer_maximum_scan_distance: 10.0 link_match_minimum_response_fine: 0.1 link_scan_maximum_distance: 1.5 # Loop closure do_loop_closing: true loop_match_minimum_chain_size: 10 loop_match_maximum_variance_coarse: 3.0 loop_match_minimum_response_coarse: 0.35 loop_match_minimum_response_fine: 0.45 loop_search_maximum_distance: 3.0 # Scan matching correlation_search_space_dimension: 0.5 correlation_search_space_resolution: 0.01 correlation_search_space_smear_deviation: 0.1 loop_search_space_dimension: 8.0 loop_search_space_resolution: 0.05 loop_search_space_smear_deviation: 0.03 # Matcher params distance_variance_penalty: 0.5 angle_variance_penalty: 1.0 fine_search_angle_offset: 0.00349 coarse_search_angle_offset: 0.349 coarse_angle_resolution: 0.0349 minimum_angle_penalty: 0.9 minimum_distance_penalty: 0.5 use_response_expansion: true min_pass_through: 2 occupancy_threshold: 0.1 scan_queue_size: 20 # --------------------------------------------------------------------------- # planner_server — SmacPlannerHybrid 全局路径规划 → /plan # 来源: gc_navigation_slam.yaml planner_server section # --------------------------------------------------------------------------- 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: 0.35 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 # --------------------------------------------------------------------------- # global_costmap — 全局代价地图（订阅 /scan + /map） # 来源: gc_navigation_slam.yaml global_costmap section # --------------------------------------------------------------------------- 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: 3.0 inflation_radius: 0.2 always_send_full_costmap: True global_costmap_client: ros__parameters: use_sim_time: False global_costmap_rclcpp_node: ros__parameters: use_sim_time: False # --------------------------------------------------------------------------- # local_costmap — 局部代价地图（obstacle_detector 可注入） # 来源: gc_navigation_slam.yaml local_costmap section # --------------------------------------------------------------------------- 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: 0.2 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