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一套相对稳定的任务二参数（yaml主文件）

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2026-08-04 16:28:03 +08:00
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src/navigation/obstacle_nav2/config/nav2_params_basic_tracking.yaml Normal file
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# ============================================================================
# nav2_params_basic_tracking.yaml
#
# Basic stable trajectory-following profile for obstacle_nav2.
# This file is intentionally conservative: low speed, longer MPPI horizon,
# smoother acceleration, moderate path tracking weights, and Ackermann limits.
#
# It does not replace nav2_params.yaml. To use it, launch Nav2 with this params
# file or add a launch argument later.
# ============================================================================
bt_navigator:
ros__parameters:
use_sim_time: False
global_frame: odom
robot_base_frame: base_footprint
odom_topic: /odom_combined
bt_loop_duration: 50
default_server_timeout: 20
default_nav_to_pose_bt_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"
# Longer horizon and moderate sampling make turns easier to discover.
time_steps: 48
model_dt: 0.05
batch_size: 1000
iteration_count: 1
# Conservative velocity exploration. Speed is deliberately not optimized.
vx_std: 0.12
vy_std: 0.0
wz_std: 0.85
vx_max: 0.25
vx_min: -0.15
vy_max: 0.0
wz_max: 1.8
# Lower temperature makes selection steadier; gamma damps rough controls.
temperature: 0.25
gamma: 0.02
motion_model: "Ackermann"
visualize: false
TrajectoryVisualizer:
trajectory_step: 5
time_step: 3
AckermannConstraints:
min_turning_r: 0.60
critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
ConstraintCritic:
enabled: true
cost_power: 1
cost_weight: 3.0
CostCritic:
enabled: true
cost_power: 1
cost_weight: 4.5
critical_cost: 300.0
consider_footprint: true
collision_cost: 1000000.0
near_goal_distance: 0.8
trajectory_point_step: 2
GoalCritic:
enabled: true
cost_power: 1
cost_weight: 2.0
threshold_to_consider: 1.0
GoalAngleCritic:
enabled: true
cost_power: 1
cost_weight: 2.0
threshold_to_consider: 0.45
PathAlignCritic:
enabled: true
cost_power: 1
cost_weight: 10.0
max_path_occupancy_ratio: 0.07
trajectory_point_step: 3
threshold_to_consider: 0.45
offset_from_furthest: 12
use_path_orientations: false
PathFollowCritic:
enabled: true
cost_power: 1
cost_weight: 8.0
offset_from_furthest: 6
threshold_to_consider: 1.0
PathAngleCritic:
enabled: true
cost_power: 1
cost_weight: 8.0
offset_from_furthest: 5
threshold_to_consider: 0.45
max_angle_to_furthest: 1.2
forward_preference: false
PreferForwardCritic:
enabled: true
cost_power: 1
cost_weight: 2.0
threshold_to_consider: 0.4
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: False
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 8.0
publish_frequency: 4.0
transform_tolerance: 0.5
global_frame: odom
robot_base_frame: base_footprint
use_sim_time: False
rolling_window: true
width: 4
height: 4
resolution: 0.05
footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
footprint_padding: 0.02
track_unknown_space: false
plugins: ["obstacle_array_layer", "inflation_layer"]
obstacle_array_layer:
plugin: "obstacle_nav2::ObstacleArrayLayer"
enabled: true
topic: /obstacles
obstacle_timeout: 0.5
transform_tolerance: 0.2
default_obstacle_radius: 0.05
minimum_obstacle_radius: 0.02
maximum_obstacle_radius: 0.06
extra_inflation: 0.02
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.25
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:
update_frequency: 2.0
publish_frequency: 1.0
transform_tolerance: 0.5
global_frame: odom
robot_base_frame: base_footprint
use_sim_time: False
rolling_window: true
width: 10
height: 10
resolution: 0.05
footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
footprint_padding: 0.02
track_unknown_space: false
plugins: ["obstacle_array_layer", "inflation_layer"]
obstacle_array_layer:
plugin: "obstacle_nav2::ObstacleArrayLayer"
enabled: true
topic: /obstacles
obstacle_timeout: 0.5
transform_tolerance: 0.2
default_obstacle_radius: 0.05
minimum_obstacle_radius: 0.02
maximum_obstacle_radius: 0.50
extra_inflation: 0.02
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.45
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: False
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: False
planner_server:
ros__parameters:
planner_plugins: ["GridBased"]
use_sim_time: False
GridBased:
plugin: "nav2_smac_planner/SmacPlannerHybrid"
downsample_costmap: false
downsampling_factor: 1
tolerance: 0.20
allow_unknown: false
max_iterations: 1000000
max_on_approach_iterations: 1000
max_planning_time: 5.0
motion_model_for_search: "REEDS_SHEPP"
angle_quantization_bins: 72
analytic_expansion_ratio: 3.5
analytic_expansion_max_length: 2.0
minimum_turning_radius: 0.60
reverse_penalty: 2.2
change_penalty: 0.5
non_straight_penalty: 0.85
cost_penalty: 4.5
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: 0.35
w_data: 0.25
tolerance: 1.0e-10
do_refinement: true
refinement_num: 2
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"
backup:
plugin: "nav2_behaviors/BackUp"
backup_dist: 0.30
backup_speed: 0.08
wait:
plugin: "nav2_behaviors/Wait"
wait_duration: 0.5
global_frame: odom
robot_base_frame: base_footprint
transform_tolerance: 0.5
use_sim_time: False
simulate_ahead_time: 2.0
max_rotational_vel: 0.8
min_rotational_vel: 0.2
rotational_acc_lim: 1.5
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
velocity_smoother:
ros__parameters:
use_sim_time: False
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.25, 0.0, 1.8]
min_velocity: [-0.15, 0.0, -1.8]
max_accel: [0.50, 0.0, 1.50]
max_decel: [-0.60, 0.0, -1.80]
odom_topic: /odom_combined
odom_duration: 0.1
deadband_velocity: [0.02, 0.0, 0.02]
velocity_timeout: 1.0