277 lines
8.4 KiB
YAML
277 lines
8.4 KiB
YAML
slam_toolbox:
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ros__parameters:
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use_sim_time: False
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bt_navigator:
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ros__parameters:
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use_sim_time: False
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global_frame: map
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robot_base_frame: base_footprint
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odom_topic: /odom
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bt_loop_duration: 50
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default_server_timeout: 20
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default_nav_to_pose_bt_xml: /home/sunrise/yiliao_ws/install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml
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default_nav_through_poses_bt_xml: /home/sunrise/yiliao_ws/install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/nav_through_poses_ackermann.xml
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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: False
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controller_server:
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ros__parameters:
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use_sim_time: False
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controller_frequency: 20.0
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FollowPath:
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plugin: nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController
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desired_linear_vel: 0.3
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max_angular_vel: 1.9
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min_angular_vel: 0.2
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lookahead_dist: 0.5
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min_lookahead_dist: 0.3
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max_lookahead_dist: 0.8
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lookahead_time: 1.5
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rotate_to_heading_angular_vel: 0.8
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transform_tolerance: 0.5
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use_velocity_scaled_lookahead_dist: True
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min_approach_linear_vel: 0.1
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approach_velocity_scaling_dist: 0.5
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use_collision_detection: True
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max_allowed_time_to_collision: 1.0
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use_cost_regulated_linear_velocity_scaling: True
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cost_scaling_dist: 0.6
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cost_scaling_gain: 1.0
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regulated_linear_scaling_min_radius: 0.35
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regulated_linear_scaling_min_speed: 0.1
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use_rotate_to_heading: False
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rotate_to_heading_min_angle: 0.5
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max_robot_pose_search_dist: 10.0
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use_interpolation: False
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allow_reversing: True
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controller_server_rclcpp_node:
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ros__parameters:
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use_sim_time: False
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local_costmap:
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local_costmap:
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ros__parameters:
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update_frequency: 1.0
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publish_frequency: 2.0
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transform_tolerance: 2.0
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global_frame: odom
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robot_base_frame: base_link
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use_sim_time: False
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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], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]'
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footprint_padding: 0.02
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plugins:
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- voxel_layer
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- inflation_layer
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inflation_layer:
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plugin: nav2_costmap_2d::InflationLayer
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cost_scaling_factor: 5.0
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inflation_radius: 0.3
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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: False
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local_costmap_rclcpp_node:
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ros__parameters:
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use_sim_time: False
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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: False
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transform_tolerance: 2.0
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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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footprint: '[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-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:
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- static_layer
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- obstacle_layer
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- 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: 5.0
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inflation_radius: 0.3
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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: False
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global_costmap_rclcpp_node:
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ros__parameters:
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use_sim_time: False
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map_saver:
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ros__parameters:
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use_sim_time: False
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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:
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- GridBased
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use_sim_time: False
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GridBased:
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plugin: nav2_smac_planner/SmacPlannerHybrid
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downsample_costmap: False
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downsampling_factor: 1
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tolerance: 0.25
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allow_unknown: True
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max_iterations: 100000
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max_on_approach_iterations: 1000
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max_planning_time: 5.0
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motion_model_for_search: REEDS_SHEPP
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angle_quantization_bins: 72
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analytic_expansion_ratio: 2.0
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analytic_expansion_max_length: 3.0
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minimum_turning_radius: 0.35
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reverse_penalty: 1.3
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change_penalty: 0.0
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non_straight_penalty: 0.0
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cost_penalty: 5.0
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retrospective_penalty: 0.015
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lookup_table_size: 5.0
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cache_obstacle_heuristic: False
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viz_expansions: False
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smooth_path: True
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smoother:
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max_iterations: 1000
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w_smooth: 0.4
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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: 4
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planner_server_rclcpp_node:
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ros__parameters:
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use_sim_time: False
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smoother_server:
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ros__parameters:
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use_sim_time: False
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smoother_plugins:
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- 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:
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- backup
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backup:
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plugin: nav2_behaviors/BackUp
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backup_dist: 0.8
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backup_speed: 0.18
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global_frame: odom
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robot_base_frame: base_link
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transform_tolerance: 2.0
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use_sim_time: False
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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: False
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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: False
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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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