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mohuanzui
2026-06-02 12:55:53 +08:00
commit 9fd2426ac5
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29
src/gc_navigation_fish/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(gc_navigation_fish)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
install(
DIRECTORY launch param maps
DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

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src/gc_navigation_fish/launch/gc_navigation.launch.py Normal file
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import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
# =============================1.定位到包的地址=============================================================
gc_navigation_fish_dir = get_package_share_directory(
'gc_navigation_fish')
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
# =============================2.声明参数，获取配置文件路径===================================================
# use_sim_time 这里要设置成true,因为gazebo是仿真环境，其时间是通过/clock话题获取，而不是系统时间
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
map_yaml_path = LaunchConfiguration('map', default=os.path.join(
gc_navigation_fish_dir, 'maps', 'my_map.yaml'))
nav2_param_path = LaunchConfiguration('params_file', default=os.path.join(
gc_navigation_fish_dir, 'param', 'gc_navigation.yaml'))
# =============================3.声明启动launch文件，传入：地图路径、是否使用仿真时间以及nav2参数文件==============
nav2_bringup_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[nav2_bringup_dir, '/launch', '/bringup_launch.py']),
launch_arguments={
'map': map_yaml_path,
'use_sim_time': use_sim_time,
'params_file': nav2_param_path}.items(),
)
return LaunchDescription([nav2_bringup_launch])

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src/gc_navigation_fish/maps/my_map.yaml Normal file
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image: map_1770592084.pgm
mode: trinary
resolution: 0.05
origin: [-2.15, -5.81, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

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src/gc_navigation_fish/maps/test_map.yaml Normal file
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image: test_map.pgm
mode: trinary
resolution: 0.05
origin: [-2.03, -6.12, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25

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src/gc_navigation_fish/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>gc_navigation_fish</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="guoch@todo.todo">guoch</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<exec_depend>nav2_bringup</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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src/gc_navigation_fish/param/gc_navigation.yaml Normal file
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# amcl:
# ros__parameters:
# use_sim_time: True
# alpha1: 0.2
# alpha2: 0.2
# alpha3: 0.2
# alpha4: 0.2
# alpha5: 0.2
# base_frame_id: "base_link"
# beam_skip_distance: 0.5
# beam_skip_error_threshold: 0.9
# beam_skip_threshold: 0.3
# do_beamskip: false
# global_frame_id: "map"
# lambda_short: 0.1
# laser_likelihood_max_dist: 2.0
# laser_max_range: 100.0
# laser_min_range: -1.0
# laser_model_type: "likelihood_field"
# max_beams: 60
# max_particles: 2000
# min_particles: 500
# odom_frame_id: "odom"
# pf_err: 0.05
# pf_z: 0.99
# recovery_alpha_fast: 0.0
# recovery_alpha_slow: 0.0
# resample_interval: 1
# robot_model_type: "nav2_amcl::DifferentialMotionModel"
# save_pose_rate: 0.5
# sigma_hit: 0.2
# tf_broadcast: true
# transform_tolerance: 10.0
# update_min_a: 0.2
# update_min_d: 0.25
# z_hit: 0.5
# z_max: 0.05
# z_rand: 0.5
# z_short: 0.05
# scan_topic: scan
# amcl_map_client:
# ros__parameters:
# use_sim_time: True
# amcl_rclcpp_node:
# ros__parameters:
# use_sim_time: True
bt_navigator:
ros__parameters:
use_sim_time: True
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
# '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_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: True
controller_server:
ros__parameters:
controller_frequency: 30.0
FollowPath:
plugin: "nav2_mppi_controller::MPPIController"
time_steps: 56
model_dt: 0.05
batch_size: 2000
vx_std: 0.2
vy_std: 0.0
wz_std: 0.4
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: 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
# Option to replace Cost and use Obstacles instead
# ObstaclesCritic:
# enabled: true
# cost_power: 1
# repulsion_weight: 1.5
# critical_weight: 20.0
# consider_footprint: false
# collision_cost: 10000.0
# collision_margin_distance: 0.1
# near_goal_distance: 0.5
CostCritic:
enabled: true
cost_power: 1
cost_weight: 3.81
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: 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
forward_preference: true
# VelocityDeadbandCritic:
# enabled: true
# cost_power: 1
# cost_weight: 35.0
# deadband_velocities: [0.05, 0.05, 0.05]
# TwirlingCritic:
# enabled: true
# twirling_cost_power: 1
# twirling_cost_weight: 10.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_link
use_sim_time: True
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: 0.55
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: True
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
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: 0.55
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: True
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
map_server:
ros__parameters:
use_sim_time: True
yaml_filename: "turtlebot3_world.yaml"
map_saver:
ros__parameters:
use_sim_time: True
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: True
GridBased:
plugin: "nav2_smac_planner/SmacPlannerHybrid"
downsample_costmap: false # whether or not to downsample the map
downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
tolerance: 0.25 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
allow_unknown: true # allow traveling in unknown space
max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution
max_planning_time: 5.0 # max time in s for planner to plan, smooth
motion_model_for_search: "REEDS_SHEPP" # or REEDS_SHEPP 可以倒车
angle_quantization_bins: 72 # Number of angle bins for search
analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach.
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
minimum_turning_radius: 0.40 # minimum turning radius in m of path / vehicle
reverse_penalty: 2.0 # Penalty to apply if motion is reversing, must be => 1
change_penalty: 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0
non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1
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.
retrospective_penalty: 0.015
lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters.
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.
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.
smooth_path: True # If true, does a simple and quick smoothing post-processing to the path
smoother:
max_iterations: 1000
w_smooth: 0.3
w_data: 0.2
tolerance: 1.0e-10
do_refinement: true
refinement_num: 2
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
smoother_server:
ros__parameters:
use_sim_time: True
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", "drive_on_heading", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.1
use_sim_time: True
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: True
waypoint_follower:
ros__parameters:
loop_rate: 20
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