forked from zbw/yiliao2026
414 lines
13 KiB
YAML
414 lines
13 KiB
YAML
amcl:
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ros__parameters:
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use_sim_time: True
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alpha1: 0.2
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alpha2: 0.2
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alpha3: 0.2
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alpha4: 0.2
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alpha5: 0.2
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base_frame_id: "base_link"
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beam_skip_distance: 0.5
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beam_skip_error_threshold: 0.9
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beam_skip_threshold: 0.3
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do_beamskip: false
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global_frame_id: "map"
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lambda_short: 0.1
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laser_likelihood_max_dist: 2.0
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laser_max_range: 100.0
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laser_min_range: -1.0
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laser_model_type: "likelihood_field"
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max_beams: 60
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max_particles: 2000
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min_particles: 500
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odom_frame_id: "odom"
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pf_err: 0.05
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pf_z: 0.99
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recovery_alpha_fast: 0.0
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recovery_alpha_slow: 0.0
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resample_interval: 1
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robot_model_type: "nav2_amcl::DifferentialMotionModel"
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save_pose_rate: 0.5
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sigma_hit: 0.2
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tf_broadcast: true
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transform_tolerance: 10.0
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update_min_a: 0.2
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update_min_d: 0.25
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z_hit: 0.5
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z_max: 0.05
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z_rand: 0.5
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z_short: 0.05
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scan_topic: scan
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amcl_map_client:
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ros__parameters:
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use_sim_time: True
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amcl_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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bt_navigator:
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ros__parameters:
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use_sim_time: True
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global_frame: map
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robot_base_frame: base_link
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odom_topic: /odom
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bt_loop_duration: 20
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default_server_timeout: 20
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# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
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# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
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# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
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# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
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plugin_lib_names:
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- nav2_compute_path_to_pose_action_bt_node
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- nav2_compute_path_through_poses_action_bt_node
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- nav2_smooth_path_action_bt_node
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- nav2_follow_path_action_bt_node
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- nav2_spin_action_bt_node
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- nav2_wait_action_bt_node
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- nav2_back_up_action_bt_node
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- nav2_drive_on_heading_bt_node
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- nav2_clear_costmap_service_bt_node
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- nav2_is_stuck_condition_bt_node
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- nav2_goal_reached_condition_bt_node
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- nav2_goal_updated_condition_bt_node
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- nav2_globally_updated_goal_condition_bt_node
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- nav2_is_path_valid_condition_bt_node
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- nav2_initial_pose_received_condition_bt_node
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- nav2_reinitialize_global_localization_service_bt_node
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- nav2_rate_controller_bt_node
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- nav2_distance_controller_bt_node
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- nav2_speed_controller_bt_node
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- nav2_truncate_path_action_bt_node
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- nav2_truncate_path_local_action_bt_node
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- nav2_goal_updater_node_bt_node
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- nav2_recovery_node_bt_node
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- nav2_pipeline_sequence_bt_node
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- nav2_round_robin_node_bt_node
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- nav2_transform_available_condition_bt_node
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- nav2_time_expired_condition_bt_node
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- nav2_path_expiring_timer_condition
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- nav2_distance_traveled_condition_bt_node
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- nav2_single_trigger_bt_node
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- nav2_is_battery_low_condition_bt_node
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- nav2_navigate_through_poses_action_bt_node
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- nav2_navigate_to_pose_action_bt_node
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- nav2_remove_passed_goals_action_bt_node
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- nav2_planner_selector_bt_node
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- nav2_controller_selector_bt_node
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- nav2_goal_checker_selector_bt_node
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- nav2_controller_cancel_bt_node
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- nav2_path_longer_on_approach_bt_node
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- nav2_wait_cancel_bt_node
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- nav2_spin_cancel_bt_node
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- nav2_back_up_cancel_bt_node
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- nav2_drive_on_heading_cancel_bt_node
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bt_navigator_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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controller_server:
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ros__parameters:
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use_sim_time: True
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controller_frequency: 30.0
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FollowPath:
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plugin: "nav2_mppi_controller::MPPIController"
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time_steps: 56
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model_dt: 0.05
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batch_size: 2000
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vx_std: 0.2
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vy_std: 0.0
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wz_std: 0.4
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vx_max: 0.5
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vx_min: -0.35
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vy_max: 0.0
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wz_max: 1.9
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iteration_count: 1
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temperature: 0.3
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gamma: 0.015
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motion_model: "Ackermann"
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visualize: false
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TrajectoryVisualizer:
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trajectory_step: 5
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time_step: 3
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AckermannConstraints:
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min_turning_r: 0.4
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critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
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ConstraintCritic:
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enabled: true
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cost_power: 1
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cost_weight: 4.0
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GoalCritic:
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enabled: true
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cost_power: 1
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cost_weight: 5.0
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threshold_to_consider: 1.4
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GoalAngleCritic:
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enabled: true
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cost_power: 1
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cost_weight: 3.0
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threshold_to_consider: 0.5
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PreferForwardCritic:
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enabled: true
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cost_power: 1
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cost_weight: 5.0
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threshold_to_consider: 0.5
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# Option to replace Cost and use Obstacles instead
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# ObstaclesCritic:
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# enabled: true
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# cost_power: 1
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# repulsion_weight: 1.5
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# critical_weight: 20.0
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# consider_footprint: false
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# collision_cost: 10000.0
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# collision_margin_distance: 0.1
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# near_goal_distance: 0.5
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CostCritic:
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enabled: true
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cost_power: 1
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cost_weight: 3.81
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critical_cost: 300.0
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consider_footprint: true
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collision_cost: 1000000.0
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near_goal_distance: 1.0
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trajectory_point_step: 2
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PathAlignCritic:
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enabled: true
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cost_power: 1
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cost_weight: 14.0
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max_path_occupancy_ratio: 0.05
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trajectory_point_step: 4
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threshold_to_consider: 0.5
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offset_from_furthest: 20
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use_path_orientations: false
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PathFollowCritic:
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enabled: true
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cost_power: 1
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cost_weight: 5.0
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offset_from_furthest: 5
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threshold_to_consider: 1.4
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PathAngleCritic:
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enabled: true
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cost_power: 1
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cost_weight: 2.0
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offset_from_furthest: 4
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threshold_to_consider: 0.5
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max_angle_to_furthest: 1.0
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forward_preference: true
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# VelocityDeadbandCritic:
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# enabled: true
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# cost_power: 1
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# cost_weight: 35.0
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# deadband_velocities: [0.05, 0.05, 0.05]
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# TwirlingCritic:
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# enabled: true
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# twirling_cost_power: 1
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# twirling_cost_weight: 10.0
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controller_server_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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local_costmap:
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local_costmap:
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ros__parameters:
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update_frequency: 5.0
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publish_frequency: 2.0
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transform_tolerance: 0.5
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global_frame: odom
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robot_base_frame: base_link
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use_sim_time: True
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rolling_window: true
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width: 3
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height: 3
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resolution: 0.05
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footprint: "[[0.14, 0.085],
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[0.14, -0.085],
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[-0.14, -0.085],
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[-0.14, 0.085]]"
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footprint_padding: 0.02
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plugins: ["voxel_layer", "inflation_layer"]
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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: 0.55
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voxel_layer:
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plugin: "nav2_costmap_2d::VoxelLayer"
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enabled: True
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publish_voxel_map: True
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origin_z: 0.0
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z_resolution: 0.05
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z_voxels: 16
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max_obstacle_height: 2.0
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mark_threshold: 0
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: "LaserScan"
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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static_layer:
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map_subscribe_transient_local: True
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always_send_full_costmap: True
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local_costmap_client:
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ros__parameters:
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use_sim_time: True
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local_costmap_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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global_costmap:
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global_costmap:
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ros__parameters:
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use_sim_time: True
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transform_tolerance: 0.5
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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_link
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use_sim_time: True
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footprint: "[[0.14, 0.085],
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[0.14, -0.085],
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[-0.14, -0.085],
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[-0.14, 0.085]]"
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footprint_padding: 0.02
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resolution: 0.05
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track_unknown_space: true
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plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
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obstacle_layer:
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plugin: "nav2_costmap_2d::ObstacleLayer"
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enabled: True
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: "LaserScan"
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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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: 0.55
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always_send_full_costmap: True
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global_costmap_client:
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ros__parameters:
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use_sim_time: True
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global_costmap_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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map_server:
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ros__parameters:
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use_sim_time: True
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yaml_filename: "turtlebot3_world.yaml"
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map_saver:
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ros__parameters:
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use_sim_time: True
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save_map_timeout: 5.0
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free_thresh_default: 0.25
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occupied_thresh_default: 0.65
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map_subscribe_transient_local: True
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planner_server:
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ros__parameters:
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planner_plugins: ["GridBased"]
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use_sim_time: True
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GridBased:
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plugin: "nav2_smac_planner/SmacPlannerHybrid"
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downsample_costmap: false # whether or not to downsample the map
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downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
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tolerance: 0.25 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
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allow_unknown: true # allow traveling in unknown space
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max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
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max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution
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max_planning_time: 5.0 # max time in s for planner to plan, smooth
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motion_model_for_search: "REEDS_SHEPP" # or REEDS_SHEPP 可以倒车
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angle_quantization_bins: 72 # Number of angle bins for search
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analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach.
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analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
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minimum_turning_radius: 0.40 # minimum turning radius in m of path / vehicle
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reverse_penalty: 2.0 # Penalty to apply if motion is reversing, must be => 1
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change_penalty: 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0
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non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1
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cost_penalty: 2.0 # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
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retrospective_penalty: 0.015
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lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters.
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cache_obstacle_heuristic: false # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
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viz_expansions: false # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning). WARNING: heavy to compute and to display, for debug only as it degrades the performance.
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smooth_path: True # If true, does a simple and quick smoothing post-processing to the path
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smoother:
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max_iterations: 1000
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w_smooth: 0.3
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w_data: 0.2
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tolerance: 1.0e-10
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do_refinement: true
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refinement_num: 2
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planner_server_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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smoother_server:
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ros__parameters:
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use_sim_time: True
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smoother_plugins: ["simple_smoother"]
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simple_smoother:
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plugin: "nav2_smoother::SimpleSmoother"
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tolerance: 1.0e-10
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max_its: 1000
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do_refinement: True
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behavior_server:
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ros__parameters:
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costmap_topic: local_costmap/costmap_raw
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footprint_topic: local_costmap/published_footprint
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cycle_frequency: 10.0
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behavior_plugins: ["spin", "backup", "wait"]
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spin:
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plugin: "nav2_behaviors/Spin"
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backup:
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plugin: "nav2_behaviors/BackUp"
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# drive_on_heading:
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# plugin: "nav2_behaviors/DriveOnHeading"
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wait:
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plugin: "nav2_behaviors/Wait"
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global_frame: odom
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robot_base_frame: base_link
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transform_tolerance: 0.5
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use_sim_time: True
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simulate_ahead_time: 2.0
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max_rotational_vel: 1.0
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min_rotational_vel: 0.4
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rotational_acc_lim: 3.2
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robot_state_publisher:
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ros__parameters:
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use_sim_time: True
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waypoint_follower:
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ros__parameters:
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loop_rate: 20
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use_sim_time: True
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stop_on_failure: false
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waypoint_task_executor_plugin: "wait_at_waypoint"
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wait_at_waypoint:
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plugin: "nav2_waypoint_follower::WaitAtWaypoint"
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enabled: True
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waypoint_pause_duration: 200
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