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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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# ============================================================================ # 文件头：说明这是 obstacle_nav2 使用的 Nav2 参数文件。
# nav2_params.yaml - Odometry-only obstacle navigation # 文件名和用途：只用里程计坐标系做避障导航。
# # 分隔说明：本配置不依赖静态地图定位。
# No static map, no AMCL, no SLAM. # 不启动 map_server、AMCL 或 slam_toolbox。
# Both costmaps are rolling windows in odom. The launch file can rewrite every # 局部/全局代价地图都在 odom 中滚动，launch 可重写 global_frame。
# global_frame leaf when a different connected odometry frame is required. # 如果换成其他连续里程计坐标系，可通过 launch 参数统一替换。
# Global planner: Smac Hybrid A* (Reeds-Shepp) # 全局规划器使用适合阿克曼/可倒车模型的 Hybrid A*。
# Local controller: MPPI (Ackermann) # 局部控制器使用 MPPI，并按阿克曼运动模型采样。
# ============================================================================ # 文件头结束。
# # 空行注释：下面开始 BT Navigator 配置。
bt_navigator: # Nav2 行为树导航器节点参数。
ros__parameters: # ROS2 参数命名空间。
use_sim_time: False # 使用真实时间；仿真时才改为 True。
global_frame: odom # 导航全局参考坐标系；当前为无地图 odom 导航。
robot_base_frame: base_footprint # 机器人底盘坐标系，用于 TF 和 footprint 计算。
odom_topic: /odom_combined # 行为树/控制相关里程计输入话题。
bt_loop_duration: 50 # 行为树 tick 周期，单位 ms；50ms 约等于 20Hz。
default_server_timeout: 20 # 行为树调用服务/动作的默认超时时间，单位 s。
# Injected by obstacle_nav2.launch.py from this package's share directory. # launch 会把该路径重写成本包里的 Ackermann 行为树 XML。
default_nav_to_pose_bt_xml: "" # NavigateToPose 默认行为树 XML，启动时由 launch 注入。
plugin_lib_names: # 行为树可加载的 BT 节点插件列表。
- nav2_compute_path_to_pose_action_bt_node # 计算单目标路径的 BT action 节点。
- nav2_compute_path_through_poses_action_bt_node # 计算多目标路径的 BT action 节点。
- nav2_smooth_path_action_bt_node # 路径平滑 BT action 节点。
- nav2_follow_path_action_bt_node # 跟随路径 BT action 节点，会调用 controller_server。
- nav2_spin_action_bt_node # 原地旋转恢复动作节点；阿克曼车实际能力需谨慎。
- nav2_wait_action_bt_node # 等待动作节点。
- nav2_back_up_action_bt_node # 倒车恢复动作节点；狭窄道路要确认后方安全。
- nav2_drive_on_heading_bt_node # 沿指定朝向行驶的动作节点。
- nav2_clear_costmap_service_bt_node # 清理代价地图服务节点。
- nav2_is_stuck_condition_bt_node # 检测机器人是否卡住的条件节点。
- nav2_goal_reached_condition_bt_node # 检测目标是否到达的条件节点。
- nav2_goal_updated_condition_bt_node # 检测目标是否更新的条件节点。
- nav2_globally_updated_goal_condition_bt_node # 检测全局目标更新的条件节点。
- nav2_is_path_valid_condition_bt_node # 检测当前路径是否仍有效的条件节点。
- nav2_initial_pose_received_condition_bt_node # 检测初始位姿是否已接收的条件节点。
- nav2_reinitialize_global_localization_service_bt_node # 重新初始化全局定位服务节点；本配置通常不用 AMCL。
- nav2_rate_controller_bt_node # 限制子树执行频率的控制节点。
- nav2_distance_controller_bt_node # 按行驶距离触发子树的控制节点。
- nav2_speed_controller_bt_node # 按速度调节子树 tick 的控制节点。
- nav2_truncate_path_action_bt_node # 截断路径动作节点。
- nav2_truncate_path_local_action_bt_node # 截断局部路径动作节点。
- nav2_goal_updater_node_bt_node # 更新目标的 BT 节点。
- nav2_recovery_node_bt_node # 恢复行为控制节点。
- nav2_pipeline_sequence_bt_node # 管线式顺序执行节点。
- nav2_round_robin_node_bt_node # 轮询执行多个恢复行为的节点。
- nav2_transform_available_condition_bt_node # 检测 TF 是否可用的条件节点。
- nav2_time_expired_condition_bt_node # 检测时间是否过期的条件节点。
- nav2_path_expiring_timer_condition # 检测路径是否需要刷新/过期的条件节点。
- nav2_distance_traveled_condition_bt_node # 检测累计行驶距离的条件节点。
- nav2_single_trigger_bt_node # 只触发一次的控制节点。
- nav2_is_battery_low_condition_bt_node # 电量低检测条件节点。
- nav2_navigate_through_poses_action_bt_node # 多路点导航 action 节点。
- nav2_navigate_to_pose_action_bt_node # 单目标导航 action 节点。
- nav2_remove_passed_goals_action_bt_node # 多目标导航中移除已通过目标点。
- nav2_planner_selector_bt_node # 运行时选择 planner 的 BT 节点。
- nav2_controller_selector_bt_node # 运行时选择 controller 的 BT 节点。
- nav2_goal_checker_selector_bt_node # 运行时选择 goal checker 的 BT 节点。
- nav2_controller_cancel_bt_node # 取消 controller action 的 BT 节点。
- nav2_path_longer_on_approach_bt_node # 接近目标时检测路径是否异常变长。
- nav2_wait_cancel_bt_node # 取消等待动作的 BT 节点。
- nav2_spin_cancel_bt_node # 取消旋转动作的 BT 节点。
- nav2_back_up_cancel_bt_node # 取消倒车动作的 BT 节点。
- nav2_drive_on_heading_cancel_bt_node # 取消沿朝向行驶动作的 BT 节点。
# # 空行注释：下面是 bt_navigator 的 rclcpp 辅助节点。
bt_navigator_rclcpp_node: # BT navigator 内部 rclcpp 节点参数。
ros__parameters: # ROS2 参数命名空间。
use_sim_time: False # 该辅助节点同样使用真实时间。
# # 空行注释：下面开始 controller_server 和 MPPI 参数。
controller_server: # Nav2 控制服务器，负责把路径转换为速度命令。
ros__parameters: # ROS2 参数命名空间。
use_sim_time: False # 控制器使用真实时间。
controller_frequency: 20.0 # 控制频率 20Hz；和 model_dt=0.05 对齐。
FollowPath: # controller 插件实例名，行为树 FollowPath 会调用它。
plugin: "nav2_mppi_controller::MPPIController" # 使用 Nav2 MPPI 控制器插件。
time_steps: 36 # MPPI 预测步数；36*0.05=1.8s 预测时域。
model_dt: 0.05 # 每个预测步长 0.05s；需接近控制周期。
batch_size: 1000 # 每周期采样 1000 条控制序列；越大越能找到转弯解但越耗 CPU。
vx_std: 0.22 # 前后速度采样标准差；影响速度探索范围。
vy_std: 0.0 # 横向速度采样标准差；阿克曼车不能横移所以为 0。
wz_std: 0.5 # 角速度采样标准差；转弯不积极时常先看这个是否太小。
vx_max: 0.40 # 最大前进速度，单位 m/s。
vx_min: -0.75 # 最大倒车速度下限，负值允许倒车。
vy_max: 0.0 # 最大横向速度；阿克曼车为 0。
wz_max: 2.0 # 最大角速度，单位 rad/s；还会受阿克曼最小转弯半径约束。
iteration_count: 1 # 每周期优化迭代次数；MPPI 常用 1 以保证实时性。
temperature: 0.3 # softmax 温度；越低越偏向最低代价轨迹。
gamma: 0.015 # 控制代价权重；影响控制序列平滑和探索保守程度。
motion_model: "Ackermann" # 使用阿克曼运动学模型。
visualize: false # 是否发布 MPPI 候选轨迹 Marker；调试时可改 true。
TrajectoryVisualizer: # MPPI 轨迹可视化降采样参数。
trajectory_step: 5 # 每隔几条候选轨迹显示一次，减轻 RViz 压力。
time_step: 3 # 每条轨迹每隔几个时间步显示一次。
AckermannConstraints: # 阿克曼模型专用约束。
min_turning_r: 0.4 # 最小转弯半径，单位 m；过大时车会显得不愿转弯。
critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] # MPPI 代价函数执行顺序。
ConstraintCritic: # 运动学/动力学约束代价，惩罚超限控制。
enabled: true # 启用约束 critic。
cost_power: 1 # 代价幂次；1 表示线性惩罚。
cost_weight: 4.0 # 约束代价权重；过高会强烈压制急转/急变速。
GoalCritic: # 目标位置吸引代价。
enabled: true # 启用目标位置 critic。
cost_power: 1 # 目标距离代价幂次。
cost_weight: 3.0 # 目标位置权重。
threshold_to_consider: 1.4 # 距目标 1.4m 内开始更明显考虑目标位置。
GoalAngleCritic: # 目标朝向代价。
enabled: true # 启用目标朝向 critic。
cost_power: 1 # 朝向误差代价幂次。
cost_weight: 3.0 # 目标朝向权重。
threshold_to_consider: 1.2 # 距目标 xxm 内开始考虑最终朝向。
PreferForwardCritic: # 前进偏好代价。
enabled: true # 启用前进偏好。
cost_power: 1 # 前进偏好代价幂次。
cost_weight: 8.0 # 前进偏好权重；过高会不愿倒车/掉头。
threshold_to_consider: 5.0 # 接近目标 0.5m 后才重点考虑该 critic。
CostCritic: # costmap 障碍物/高代价区域 critic。
enabled: true # 启用代价地图 critic。
cost_power: 1 # costmap 代价幂次。
cost_weight: 3.0 # costmap 权重；越高越远离障碍/道路边界。
critical_cost: 300.0 # 超过该代价会被视为非常危险。
consider_footprint: true # 用完整车体 footprint 检查代价，而不是只看中心点。
collision_cost: 1000000.0 # 碰撞轨迹的巨大惩罚。
near_goal_distance: 1.0 # 近目标距离内可调整 cost critic 行为。
trajectory_point_step: 2 # 评估轨迹时每隔 2 个点检查一次，降低计算量。
PathAlignCritic: # 路径贴合 critic，鼓励候选轨迹贴近全局路径。
enabled: true # 启用路径贴合。
cost_power: 2 # 路径贴合代价幂次。
cost_weight: 14.0 # 路径贴合权重；过高时车可能不愿为了转弯偏离路径。
max_path_occupancy_ratio: 0.05 # 路径附近占据比例超过阈值时可降低该 critic 影响。
trajectory_point_step: 4 # 路径贴合评估的轨迹点间隔。
threshold_to_consider: 0.5 # 距目标超过 0.5m 时考虑路径贴合。
offset_from_furthest: 20 # 从最远路径进展点再向前偏移，用于对齐目标点选择。
use_path_orientations: true # 不使用路径自带朝向，仅按几何路径对齐。
PathFollowCritic: # 路径前进 critic，鼓励沿路径向前推进。
enabled: true # 启用路径跟随。
cost_power: 1 # 路径前进代价幂次。
cost_weight: 9.0 # 路径前进权重。
offset_from_furthest: 5 # 选择最远进展点前方 5 个点作为跟随参考。
threshold_to_consider: 1.4 # 距目标超过 1.4m 时考虑路径前进。
PathAngleCritic: # 路径朝向 critic，约束车头与路径方向关系。
enabled: true # 启用路径朝向。
cost_power: 1 # 路径朝向代价幂次。
cost_weight: 6.0 # 路径朝向权重；过高可能压制可行的切弯姿态。
offset_from_furthest: 4 # 用路径前方第 4 个点估计方向。
threshold_to_consider: 0.5 # 距目标超过 0.5m 时考虑路径朝向。
max_angle_to_furthest: 1.0 # 到前方路径点最大允许角度，单位 rad。
forward_preference: true # 偏好前进方向，false允许更灵活的路径角度。
# # 空行注释：下面是 controller_server 的 rclcpp 辅助节点。
controller_server_rclcpp_node: # controller server 内部 rclcpp 节点参数。
ros__parameters: # ROS2 参数命名空间。
use_sim_time: False # 使用真实时间。
# # 空行注释：下面开始局部代价地图配置。
local_costmap: # 局部代价地图顶层命名空间。
local_costmap: # Nav2 costmap node 名称。
ros__parameters: # ROS2 参数命名空间。
update_frequency: 5.0 # 局部 costmap 更新频率 5Hz。
publish_frequency: 2.0 # 局部 costmap 发布频率 2Hz。
transform_tolerance: 0.5 # TF 允许延迟 0.5s。
global_frame: odom # 局部 costmap 参考坐标系。
robot_base_frame: base_footprint # 机器人底盘坐标系。
use_sim_time: False # 使用真实时间。
rolling_window: true # 使用跟随机器人移动的滚动窗口。
width: 3 # 局部 costmap 宽 3m。
height: 3 # 局部 costmap 高 3m。
resolution: 0.05 # 栅格分辨率 5cm。
footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]" # 车体矩形轮廓，单位 m。
footprint_padding: 0.02 # footprint 额外膨胀 2cm，提供安全余量。
track_unknown_space: false # 不把未知区域作为需要跟踪的未知空间。
plugins: ["obstacle_array_layer", "inflation_layer"] # 局部 costmap 插件顺序。
obstacle_array_layer: # 自定义障碍物数组层。
plugin: "obstacle_nav2::ObstacleArrayLayer" # 使用 obstacle_nav2 包里的自定义 costmap layer。
enabled: true # 启用障碍物层。
topic: /obstacles # 从 obstacle_scanner 发布的障碍物话题读取。
obstacle_timeout: 0.5 # 障碍物 0.5s 未更新后过期。
transform_tolerance: 0.2 # 障碍物坐标 TF 容忍时间 0.2s。
default_obstacle_radius: 0.05 # 默认障碍物半径 5cm。
minimum_obstacle_radius: 0.02 # 障碍物最小半径 2cm。
maximum_obstacle_radius: 0.06 # 局部层障碍物最大半径 6cm。
extra_inflation: 0.02 # 自定义层额外障碍膨胀 2cm。
inflation_layer: # 标准 Nav2 膨胀层。
plugin: "nav2_costmap_2d::InflationLayer" # 使用 Nav2 内置 InflationLayer。
cost_scaling_factor: 3.0 # 膨胀代价衰减速度；越大衰减越快。
inflation_radius: 0.15 # 局部障碍膨胀半径 20cm。
always_send_full_costmap: True # 每次发布完整 costmap，便于调试但带宽更高。
local_costmap_client: # 局部 costmap 参数客户端节点。
ros__parameters: # ROS2 参数命名空间。
use_sim_time: False # 使用真实时间。
local_costmap_rclcpp_node: # 局部 costmap 内部 rclcpp 节点。
ros__parameters: # ROS2 参数命名空间。
use_sim_time: False # 使用真实时间。
# # 空行注释：下面开始全局代价地图配置。
global_costmap: # 全局代价地图顶层命名空间。
global_costmap: # Nav2 global costmap node 名称。
ros__parameters: # ROS2 参数命名空间。
update_frequency: 1.0 # 全局 costmap 更新频率 1Hz。
publish_frequency: 1.0 # 全局 costmap 发布频率 1Hz。
transform_tolerance: 0.5 # TF 允许延迟 0.5s。
global_frame: odom # 全局 costmap 参考坐标系；此处仍为 odom 滚动窗口。
robot_base_frame: base_footprint # 机器人底盘坐标系。
use_sim_time: False # 使用真实时间。
rolling_window: true # 全局 costmap 也采用滚动窗口，不依赖静态地图。
width: 10 # 全局 costmap 宽 10m。
height: 10 # 全局 costmap 高 10m。
resolution: 0.05 # 栅格分辨率 5cm。
footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]" # 车体矩形轮廓，单位 m。
footprint_padding: 0.02 # footprint 额外膨胀 2cm。
track_unknown_space: false # 不跟踪未知空间，适合无静态地图滚动导航。
plugins: ["obstacle_array_layer", "inflation_layer"] # 全局 costmap 插件顺序。
obstacle_array_layer: # 自定义障碍物数组层。
plugin: "obstacle_nav2::ObstacleArrayLayer" # 使用 obstacle_nav2 自定义 layer。
enabled: true # 启用障碍物层。
topic: /obstacles # 障碍物输入话题。
obstacle_timeout: 0.5 # 障碍物数据过期时间 0.5s。
transform_tolerance: 0.2 # 障碍物 TF 容忍时间 0.2s。
default_obstacle_radius: 0.05 # 默认障碍物半径 5cm。
minimum_obstacle_radius: 0.02 # 障碍物最小半径 2cm。
maximum_obstacle_radius: 0.50 # 全局层允许更大的障碍物半径，最大 50cm。
extra_inflation: 0.02 # 自定义层额外膨胀 2cm。
inflation_layer: # 标准 Nav2 膨胀层。
plugin: "nav2_costmap_2d::InflationLayer" # 使用 Nav2 内置 InflationLayer。
cost_scaling_factor: 3.0 # 膨胀代价衰减速度。
inflation_radius: 0.55 # 全局障碍膨胀半径 55cm，规划会更保守。
always_send_full_costmap: True # 每次发布完整全局 costmap。
global_costmap_client: # 全局 costmap 参数客户端节点。
ros__parameters: # ROS2 参数命名空间。
use_sim_time: False # 使用真实时间。
global_costmap_rclcpp_node: # 全局 costmap 内部 rclcpp 节点。
ros__parameters: # ROS2 参数命名空间。
use_sim_time: False # 使用真实时间。
# # 空行注释：下面开始全局规划器配置。
planner_server: # Nav2 全局规划服务器。
ros__parameters: # ROS2 参数命名空间。
planner_plugins: ["GridBased"] # 注册一个名为 GridBased 的 planner。
use_sim_time: False # 使用真实时间。
GridBased: # GridBased planner 插件参数。
plugin: "nav2_smac_planner/SmacPlannerHybrid" # 使用 Smac Hybrid A* 规划器。
downsample_costmap: false # 不降采样 costmap，保留 5cm 精度。
downsampling_factor: 1 # 降采样倍率为 1，即不降采样。
tolerance: 0.25 # 目标容忍半径 25cm，目标附近可接受近似解。
allow_unknown: false # 不允许规划穿过未知区域。
max_iterations: 1000000 # 最大搜索迭代次数。
max_on_approach_iterations: 1000 # 接近目标后额外搜索迭代次数。
max_planning_time: 5.0 # 单次规划最大时间 5s。
motion_model_for_search: "REEDS_SHEPP" # 搜索模型支持前进和倒车。
angle_quantization_bins: 72 # 角度离散成 72 档，每档约 5 度。
analytic_expansion_ratio: 3.5 # 解析扩展尝试频率比例。
analytic_expansion_max_length: 3.0 # 解析扩展最大长度 3m。
minimum_turning_radius: 0.60 # 规划器最小转弯半径，应和 MPPI min_turning_r 接近。
reverse_penalty: 1.9 # 倒车惩罚；越高越不愿倒车。
change_penalty: 1.0 # 前进/倒车方向切换惩罚。
non_straight_penalty: 1.2 # 非直线运动惩罚；过高会让路径偏直。
cost_penalty: 4.0 # costmap 高代价区域惩罚；越高越远离障碍。
retrospective_penalty: 0.015 # 回溯惩罚，用于改善搜索效率/路径偏好。
# 5 m covers the rolling planning horizon without the startup and memory # 说明 lookup_table_size 为什么设为 5m。
# cost of the previous 20 m (401-cell) Hybrid-A* lookup table. # 旧的 20m 查找表启动和内存成本更高。
lookup_table_size: 5.0 # Hybrid A* 启发式查找表尺寸 5m。
cache_obstacle_heuristic: false # 不缓存障碍启发式，适合滚动障碍环境。
viz_expansions: false # 不发布搜索扩展可视化；调试规划器时可打开。
smooth_path: True # 对规划结果做平滑。
smoother: # Smac planner 内部 smoother 参数。
max_iterations: 1000 # 平滑器最大迭代次数。
w_smooth: 0.3 # 平滑项权重。
w_data: 0.2 # 保持原路径数据项权重。
tolerance: 1.0e-10 # 平滑收敛阈值。
do_refinement: true # 启用额外细化。
refinement_num: 2 # 平滑细化轮数。
# # 空行注释：下面是 planner_server 的 rclcpp 辅助节点。
planner_server_rclcpp_node: # planner server 内部 rclcpp 节点。
ros__parameters: # ROS2 参数命名空间。
use_sim_time: False # 使用真实时间。
# # 空行注释：下面开始 smoother_server 配置。
smoother_server: # Nav2 独立路径平滑服务器。
ros__parameters: # ROS2 参数命名空间。
use_sim_time: False # 使用真实时间。
smoother_plugins: ["simple_smoother"] # 注册 simple_smoother 插件。
simple_smoother: # SimpleSmoother 插件参数。
plugin: "nav2_smoother::SimpleSmoother" # 使用 Nav2 内置简单平滑器。
tolerance: 1.0e-10 # 平滑收敛阈值。
max_its: 1000 # 最大迭代次数。
do_refinement: True # 启用额外细化。
# # 空行注释：下面开始行为服务器配置。
behavior_server: # Nav2 恢复/行为服务器。
ros__parameters: # ROS2 参数命名空间。
costmap_topic: local_costmap/costmap_raw # 行为服务器使用的局部 costmap 原始话题。
footprint_topic: local_costmap/published_footprint # 行为服务器使用的机器人 footprint 话题。
cycle_frequency: 10.0 # 行为服务器运行频率 10Hz。
behavior_plugins: ["spin", "backup", "wait"] # 注册旋转、倒车、等待三个行为。
spin: # 旋转行为参数。
plugin: "nav2_behaviors/Spin" # 使用 Nav2 Spin 行为。
backup: # 倒车行为参数。
plugin: "nav2_behaviors/BackUp" # 使用 Nav2 BackUp 行为。
backup_dist: 0.8 # 默认倒车距离 0.8m。
backup_speed: 0.18 # 默认倒车速度 0.18m/s。
wait: # 等待行为参数。
plugin: "nav2_behaviors/Wait" # 使用 Nav2 Wait 行为。
wait_duration: 0.5 # 默认等待 0.5s。
global_frame: odom # 行为服务器全局参考坐标系。
robot_base_frame: base_footprint # 机器人底盘坐标系。
transform_tolerance: 0.5 # TF 容忍时间 0.5s。
use_sim_time: False # 使用真实时间。
simulate_ahead_time: 2.0 # 行为碰撞检查向前模拟 2s。
max_rotational_vel: 1.0 # 行为服务器最大旋转速度 1rad/s。
min_rotational_vel: 0.4 # 行为服务器最小旋转速度 0.4rad/s。
rotational_acc_lim: 3.2 # 行为服务器旋转加速度限制 3.2rad/s^2。
# # 空行注释：下面是 robot_state_publisher 参数。
robot_state_publisher: # 机器人状态发布器。
ros__parameters: # ROS2 参数命名空间。
use_sim_time: False # 使用真实时间。
# # 空行注释：下面开始 waypoint_follower 配置。
waypoint_follower: # Nav2 路点跟随服务器。
ros__parameters: # ROS2 参数命名空间。
loop_rate: 20 # 路点跟随循环频率 20Hz。
use_sim_time: False # 使用真实时间。
stop_on_failure: false # 单个路点失败时不停止整个任务。
waypoint_task_executor_plugin: "wait_at_waypoint" # 每个路点执行等待插件。
wait_at_waypoint: # 路点等待插件参数。
plugin: "nav2_waypoint_follower::WaitAtWaypoint" # 使用 Nav2 内置等待插件。
enabled: True # 启用到点等待。
waypoint_pause_duration: 200 # 每个路点等待 200ms。
# # 空行注释：下面开始 velocity_smoother 配置。
velocity_smoother: # Nav2 速度平滑器。
ros__parameters: # ROS2 参数命名空间。
use_sim_time: False # 使用真实时间。
smoothing_frequency: 20.0 # 速度平滑频率 20Hz。
scale_velocities: False # 不按比例缩放各轴速度，直接按限制裁剪。
feedback: "OPEN_LOOP" # 开环平滑，不用实时里程计速度闭环修正。
max_velocity: [0.40, 0.0, 2.5] # 最大速度 [vx, vy, wz]。
min_velocity: [-0.75, 0.0, -2.5] # 最小速度 [vx, vy, wz]，负 vx 允许倒车。
max_accel: [2.5, 0.0, 3.2] # 最大加速度 [ax, ay, aw]。
max_decel: [-0.5, 0.0, -0.5] # 最大减速度；负值表示减速方向限制。
odom_topic: /odom_combined # 平滑器读取里程计的话题。
odom_duration: 0.1 # 里程计速度估计时间窗口 0.1s。
deadband_velocity: [0.03, 0.0, 0.03] # 小于死区的速度会被压到 0。
velocity_timeout: 1.0 # 1s 未收到速度命令则停止输出。

163
src/navigation/obstacle_nav2/config/nav2_params.yaml
View File

@@ -1,11 +1,12 @@
# ============================================================================
# nav2_params.yaml — Odometry-only obstacle navigation
# nav2_params_basic_tracking.yaml
#
# No static map, no AMCL, no SLAM.
# Both costmaps are rolling windows in odom. The launch file can rewrite every
# global_frame leaf when a different connected odometry frame is required.
# Global planner: Smac Hybrid A* (Reeds-Shepp)
# Local controller: MPPI (Ackermann)
# 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:
@@ -16,7 +17,6 @@ bt_navigator:
odom_topic: /odom_combined
bt_loop_duration: 50
default_server_timeout: 20
# Injected by obstacle_nav2.launch.py from this package's share directory.
default_nav_to_pose_bt_xml: ""
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
@@ -71,81 +71,98 @@ controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 20.0
FollowPath:
plugin: "nav2_mppi_controller::MPPIController"
time_steps: 36
# Longer horizon and moderate sampling make turns easier to discover.
time_steps: 48
model_dt: 0.05
batch_size: 1000
vx_std: 0.22
vy_std: 0.0
wz_std: 0.5
vx_max: 0.40
vx_min: -0.75
vy_max: 0.0
wz_max: 2.0
iteration_count: 1
temperature: 0.3
gamma: 0.015
# Conservative velocity exploration. Speed is deliberately not optimized.
vx_std: 0.20
vy_std: 0.0
wz_std: 0.85
vx_max: 0.50
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: 0.6
min_turning_r: 0.60
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: 3.0
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: 6.0
threshold_to_consider: 0.5
CostCritic:
enabled: true
cost_power: 1
cost_weight: 3.81
cost_weight: 4.5
critical_cost: 300.0
consider_footprint: true
collision_cost: 1000000.0
near_goal_distance: 1.0
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: 14.0
max_path_occupancy_ratio: 0.05
cost_weight: 16.0
max_path_occupancy_ratio: 0.07
trajectory_point_step: 4
threshold_to_consider: 0.5
offset_from_furthest: 20
threshold_to_consider: 0.45
offset_from_furthest: 8
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: 6.0
offset_from_furthest: 4
threshold_to_consider: 0.5
max_angle_to_furthest: 1.0
threshold_to_consider: 1.0
PathAngleCritic:
enabled: true
cost_power: 1
cost_weight: 6.0
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
@@ -153,15 +170,15 @@ controller_server_rclcpp_node:
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
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: 3
height: 3
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
@@ -180,7 +197,7 @@ local_costmap:
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.2
inflation_radius: 0.25
always_send_full_costmap: True
local_costmap_client:
ros__parameters:
@@ -192,7 +209,7 @@ local_costmap:
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
update_frequency: 2.0
publish_frequency: 1.0
transform_tolerance: 0.5
global_frame: odom
@@ -219,7 +236,7 @@ global_costmap:
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
inflation_radius: 0.45
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
@@ -236,7 +253,7 @@ planner_server:
plugin: "nav2_smac_planner/SmacPlannerHybrid"
downsample_costmap: false
downsampling_factor: 1
tolerance: 0.25
tolerance: 0.20
allow_unknown: false
max_iterations: 1000000
max_on_approach_iterations: 1000
@@ -244,23 +261,21 @@ planner_server:
motion_model_for_search: "REEDS_SHEPP"
angle_quantization_bins: 72
analytic_expansion_ratio: 3.5
analytic_expansion_max_length: 3.0
analytic_expansion_max_length: 2.0
minimum_turning_radius: 0.60
reverse_penalty: 1.9
change_penalty: 1.0
non_straight_penalty: 1.2
cost_penalty: 4.0
reverse_penalty: 2.2
change_penalty: 0.5
non_straight_penalty: 0.85
cost_penalty: 4.5
retrospective_penalty: 0.015
# 5 m covers the rolling planning horizon without the startup and memory
# cost of the previous 20 m (401-cell) Hybrid-A* lookup table.
lookup_table_size: 5.0
cache_obstacle_heuristic: false
viz_expansions: false
smooth_path: True
smoother:
max_iterations: 1000
w_smooth: 0.3
w_data: 0.2
w_smooth: 0.35
w_data: 0.25
tolerance: 1.0e-10
do_refinement: true
refinement_num: 2
@@ -289,8 +304,8 @@ behavior_server:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
backup_dist: 0.8
backup_speed: 0.18
backup_dist: 0.30
backup_speed: 0.08
wait:
plugin: "nav2_behaviors/Wait"
wait_duration: 0.5
@@ -299,9 +314,9 @@ behavior_server:
transform_tolerance: 0.5
use_sim_time: False
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
max_rotational_vel: 0.8
min_rotational_vel: 0.2
rotational_acc_lim: 1.5
robot_state_publisher:
ros__parameters:
@@ -324,11 +339,11 @@ velocity_smoother:
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.40, 0.0, 2.5]
min_velocity: [-0.75, 0.0, -2.5]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-0.5, 0.0, -0.5]
max_velocity: [0.50, 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: [0.03, 0.0, 0.03]
deadband_velocity: [0.02, 0.0, 0.02]
velocity_timeout: 1.0

334
src/navigation/obstacle_nav2/config/nav2_params.yaml.bak.20260804-1444 Executable file
View File

@@ -0,0 +1,334 @@
# ============================================================================
# nav2_params.yaml — Odometry-only obstacle navigation
#
# No static map, no AMCL, no SLAM.
# Both costmaps are rolling windows in odom. The launch file can rewrite every
# global_frame leaf when a different connected odometry frame is required.
# Global planner: Smac Hybrid A* (Reeds-Shepp)
# Local controller: MPPI (Ackermann)
# ============================================================================
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
# Injected by obstacle_nav2.launch.py from this package's share directory.
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"
time_steps: 36
model_dt: 0.05
batch_size: 1000
vx_std: 0.22
vy_std: 0.0
wz_std: 0.5
vx_max: 0.40
vx_min: -0.75
vy_max: 0.0
wz_max: 2.0
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: 0.6
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: 3.0
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: 6.0
threshold_to_consider: 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: 6.0
offset_from_furthest: 4
threshold_to_consider: 0.5
max_angle_to_furthest: 1.0
forward_preference: false
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: False
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
transform_tolerance: 0.5
global_frame: odom
robot_base_frame: base_footprint
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
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: 0.2
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: 1.0
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: 0.55
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: 0.25
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: 3.0
minimum_turning_radius: 0.60
reverse_penalty: 1.9
change_penalty: 1.0
non_straight_penalty: 1.2
cost_penalty: 4.0
retrospective_penalty: 0.015
# 5 m covers the rolling planning horizon without the startup and memory
# cost of the previous 20 m (401-cell) Hybrid-A* lookup table.
lookup_table_size: 5.0
cache_obstacle_heuristic: false
viz_expansions: false
smooth_path: True
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: 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: 0.8
backup_speed: 0.18
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: 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
velocity_smoother:
ros__parameters:
use_sim_time: False
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.40, 0.0, 2.5]
min_velocity: [-0.75, 0.0, -2.5]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-0.5, 0.0, -0.5]
odom_topic: /odom_combined
odom_duration: 0.1
deadband_velocity: [0.03, 0.0, 0.03]
velocity_timeout: 1.0

334
src/navigation/obstacle_nav2/config/nav2_params.yaml.bak_20260804_144647 Executable file
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# ============================================================================
# nav2_params.yaml — Odometry-only obstacle navigation
#
# No static map, no AMCL, no SLAM.
# Both costmaps are rolling windows in odom. The launch file can rewrite every
# global_frame leaf when a different connected odometry frame is required.
# Global planner: Smac Hybrid A* (Reeds-Shepp)
# Local controller: MPPI (Ackermann)
# ============================================================================
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
# Injected by obstacle_nav2.launch.py from this package's share directory.
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"
time_steps: 36
model_dt: 0.05
batch_size: 1000
vx_std: 0.22
vy_std: 0.0
wz_std: 0.5
vx_max: 0.40
vx_min: -0.75
vy_max: 0.0
wz_max: 2.0
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: 0.6
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: 3.0
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: 6.0
threshold_to_consider: 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: 6.0
offset_from_furthest: 4
threshold_to_consider: 0.5
max_angle_to_furthest: 1.0
forward_preference: false
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: False
local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
transform_tolerance: 0.5
global_frame: odom
robot_base_frame: base_footprint
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
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: 0.2
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: 1.0
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: 0.55
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: 0.25
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: 3.0
minimum_turning_radius: 0.60
reverse_penalty: 1.9
change_penalty: 1.0
non_straight_penalty: 1.2
cost_penalty: 4.0
retrospective_penalty: 0.015
# 5 m covers the rolling planning horizon without the startup and memory
# cost of the previous 20 m (401-cell) Hybrid-A* lookup table.
lookup_table_size: 5.0
cache_obstacle_heuristic: false
viz_expansions: false
smooth_path: True
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: 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: 0.8
backup_speed: 0.18
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: 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
velocity_smoother:
ros__parameters:
use_sim_time: False
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.40, 0.0, 2.5]
min_velocity: [-0.75, 0.0, -2.5]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-0.5, 0.0, -0.5]
odom_topic: /odom_combined
odom_duration: 0.1
deadband_velocity: [0.03, 0.0, 0.03]
velocity_timeout: 1.0

347
src/navigation/obstacle_nav2/config/nav2_params.yaml.bak_before_spin_fix_20260804_153854 Executable 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: ["backup", "wait"]
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

349
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