344 lines
9.9 KiB
YAML
344 lines
9.9 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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# 阿克曼底盘专用 BT：移除 Spin，恢复行为 = 清代价地图 → 后退 → 等待
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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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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_mppi_controller::MPPIController"
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time_steps: 36
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model_dt: 0.05
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batch_size: 1000
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vx_std: 0.2
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vy_std: 0.0
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wz_std: 0.4
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vx_max: 0.5
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vx_min: -0.35
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vy_max: 0.0
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wz_max: 1.9
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iteration_count: 1
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temperature: 0.3
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gamma: 0.015
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motion_model: "Ackermann"
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visualize: false
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TrajectoryVisualizer:
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trajectory_step: 5
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time_step: 3
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AckermannConstraints:
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min_turning_r: 0.4
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critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
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ConstraintCritic:
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enabled: true
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cost_power: 1
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cost_weight: 4.0
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GoalCritic:
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enabled: true
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cost_power: 1
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cost_weight: 5.0
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threshold_to_consider: 1.4
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GoalAngleCritic:
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enabled: true
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cost_power: 1
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cost_weight: 3.0
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threshold_to_consider: 0.5
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PreferForwardCritic:
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enabled: true
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cost_power: 1
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cost_weight: 5.0
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threshold_to_consider: 0.5
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CostCritic:
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enabled: true
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cost_power: 1
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cost_weight: 3.81
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critical_cost: 300.0
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consider_footprint: true
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collision_cost: 1000000.0
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near_goal_distance: 1.0
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trajectory_point_step: 2
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PathAlignCritic:
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enabled: true
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cost_power: 1
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cost_weight: 14.0
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max_path_occupancy_ratio: 0.05
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trajectory_point_step: 4
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threshold_to_consider: 0.5
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offset_from_furthest: 20
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use_path_orientations: false
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PathFollowCritic:
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enabled: true
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cost_power: 1
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cost_weight: 5.0
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offset_from_furthest: 5
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threshold_to_consider: 1.4
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PathAngleCritic:
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enabled: true
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cost_power: 1
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cost_weight: 2.0
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offset_from_furthest: 4
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threshold_to_consider: 0.5
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max_angle_to_furthest: 1.0
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forward_preference: true
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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: 5.0
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publish_frequency: 2.0
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transform_tolerance: 0.5
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global_frame: odom
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robot_base_frame: base_link
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use_sim_time: 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],
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[0.14, -0.085],
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[-0.14, -0.085],
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[-0.14, 0.085]]"
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footprint_padding: 0.02
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plugins: ["voxel_layer", "inflation_layer"]
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 3.0
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inflation_radius: 0.55
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voxel_layer:
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plugin: "nav2_costmap_2d::VoxelLayer"
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enabled: True
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publish_voxel_map: True
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origin_z: 0.0
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z_resolution: 0.05
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z_voxels: 16
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max_obstacle_height: 2.0
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mark_threshold: 0
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: "LaserScan"
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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static_layer:
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map_subscribe_transient_local: True
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always_send_full_costmap: True
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local_costmap_client:
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ros__parameters:
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use_sim_time: 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: 0.5
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update_frequency: 1.0
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publish_frequency: 1.0
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global_frame: map
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robot_base_frame: base_link
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use_sim_time: False
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footprint: "[[0.14, 0.085],
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[0.14, -0.085],
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[-0.14, -0.085],
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[-0.14, 0.085]]"
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footprint_padding: 0.02
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resolution: 0.05
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track_unknown_space: true
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plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
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obstacle_layer:
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plugin: "nav2_costmap_2d::ObstacleLayer"
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enabled: True
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: "LaserScan"
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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static_layer:
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plugin: "nav2_costmap_2d::StaticLayer"
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map_subscribe_transient_local: True
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 3.0
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inflation_radius: 0.55
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always_send_full_costmap: True
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global_costmap_client:
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ros__parameters:
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use_sim_time: 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: ["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: 1000000
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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: 3.5
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analytic_expansion_max_length: 3.0
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minimum_turning_radius: 0.40
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reverse_penalty: 1.3 # 后退惩罚，越小越愿意后退（默认 2.0，设为 1.3 允许灵活倒车）
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change_penalty: 0.0
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non_straight_penalty: 1.2
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cost_penalty: 2.0
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retrospective_penalty: 0.015
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lookup_table_size: 20.0
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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: 0.3
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w_data: 0.2
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tolerance: 1.0e-10
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do_refinement: true
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refinement_num: 2
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planner_server_rclcpp_node:
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ros__parameters:
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use_sim_time: 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: ["simple_smoother"]
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simple_smoother:
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plugin: "nav2_smoother::SimpleSmoother"
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tolerance: 1.0e-10
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max_its: 1000
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do_refinement: True
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behavior_server:
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ros__parameters:
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costmap_topic: local_costmap/costmap_raw
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footprint_topic: local_costmap/published_footprint
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cycle_frequency: 10.0
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behavior_plugins: ["spin", "backup", "wait"]
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spin:
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plugin: "nav2_behaviors/Spin" # 需保留以匹配默认 BT XML
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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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wait:
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plugin: "nav2_behaviors/Wait"
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wait_duration: 0.5
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global_frame: odom
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robot_base_frame: base_link
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transform_tolerance: 0.5
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use_sim_time: 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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