457 lines
13 KiB
YAML
457 lines
13 KiB
YAML
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---
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### NAVIGATION ###
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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: <robot_namespace>/map
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robot_base_frame: <robot_namespace>/base_link
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odom_topic: /<robot_namespace>/odom
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plugin_lib_names:
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- nav2_compute_path_to_pose_action_bt_node
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- nav2_follow_path_action_bt_node
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- nav2_back_up_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_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_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_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_distance_traveled_condition_bt_node
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- nav2_remove_passed_goals_action_bt_node
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- nav2_compute_path_through_poses_action_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: 10.0
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odom_topic: /<robot_namespace>/odom
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# if velocity is below threshold value it is set to 0
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min_x_velocity_threshold: 0.001
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min_y_velocity_threshold: 0.5
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min_theta_velocity_threshold: 0.001
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progress_checker_plugin: progress_checker
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progress_checker:
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plugin: nav2_controller::SimpleProgressChecker
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required_movement_radius: 0.5
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movement_time_allowance: 10.0
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goal_checker_plugin: goal_checker
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goal_checker:
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plugin: nav2_controller::SimpleGoalChecker
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xy_goal_tolerance: 0.1
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yaw_goal_tolerance: 0.25
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stateful: true # if stateful is true goal checker will not check if the xy position matches again once it is found to be true.
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controller_plugins: [FollowPath]
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FollowPath:
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# Shim controller first rotates robot in place to orientation of global path
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# and the switches to DWB - otherwise DWB won't turn in place, but with arc, which
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# is less optimal
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plugin: nav2_rotation_shim_controller::RotationShimController
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primary_controller: dwb_core::DWBLocalPlanner
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angular_dist_threshold: 0.4 # quite low value to avoid moving in arc
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forward_sampling_distance: 0.5
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rotate_to_heading_angular_vel: 1.5
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# I'm not sure why, but ang vel is limited max_angular_accel param divided by 10
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# actual acceleration will be limited by controller, so it can be set to higher value
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max_angular_accel: 10.0
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simulate_ahead_time: 1.0
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debug_trajectory_details: true
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# Velocity/acceleration limits also have to be adjusted in the velocity smoother
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min_vel_x: -0.25
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max_vel_x: 0.5
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acc_lim_x: 1.0
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decel_lim_x: -1.0
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min_speed_xy: 0.007
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max_speed_xy: 0.5
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max_vel_theta: 1.5
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min_speed_theta: 0.4
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acc_lim_theta: 4.0
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decel_lim_theta: -4.0
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min_vel_y: 0.0
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max_vel_y: 0.0
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acc_lim_y: 0.0
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decel_lim_y: 0.0
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vx_samples: 20
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vy_samples: 0
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vtheta_samples: 20
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transform_tolerance: 0.2
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short_circuit_trajectory_evaluation: true
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trajectory_generator_name: dwb_plugins::StandardTrajectoryGenerator
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sim_time: 0.75 # low value to avoid slow movement near goal
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discretize_by_time: false
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linear_granularity: 0.05
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angular_granularity: 0.025
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# Critics used for scoring trajectories created by trajectory generator
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# Final score is a sum of critics' score
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critics: [BaseObstacle, ObstacleFootprint, GoalAlign, GoalDist, PathAlign, PathDist, RotateToGoal,
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Oscillation]
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BaseObstacle.scale: 0.02
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GoalAlign.scale: 24.0
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GoalAlign.forward_point_distance: 0.1
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GoalDist.scale: 24.0
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PathAlign.scale: 32.0
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PathAlign.forward_point_distance: 0.1
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PathDist.scale: 32.0
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xy_goal_tolerance: 0.1
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trans_stopped_velocity: 0.25
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RotateToGoal.scale: 32.0
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RotateToGoal.slowing_factor: 5.0
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RotateToGoal.lookahead_time: -1.0
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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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use_sim_time: false
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global_frame: <robot_namespace>/odom
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robot_base_frame: <robot_namespace>/base_link
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update_frequency: 5.0
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publish_frequency: 2.0
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width: 5
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height: 5
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resolution: 0.05
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always_send_full_costmap: true
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rolling_window: true
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transform_tolerance: 0.1
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footprint: '[[0.45, 0.47], [0.45, -0.47], [-0.45, -0.47], [-0.45, 0.47]]'
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plugins: [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: /<robot_namespace>/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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inflation_layer:
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plugin: nav2_costmap_2d::InflationLayer
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enabled: true
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cost_scaling_factor: 1.3
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inflation_radius: 1.5
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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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global_frame: <robot_namespace>/map
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robot_base_frame: <robot_namespace>/base_link
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update_frequency: 1.0
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publish_frequency: 1.0
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resolution: 0.05
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always_send_full_costmap: true
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track_unknown_space: true # if false, treats unknown space as free space, else as unknown space
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transform_tolerance: 0.1
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footprint: '[[0.45, 0.47], [0.45, -0.47], [-0.45, -0.47], [-0.45, 0.47]]'
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plugins: [static_layer, obstacle_layer, inflation_layer]
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static_layer:
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plugin: nav2_costmap_2d::StaticLayer
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enabled: true
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map_subscribe_transient_local: true
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map_topic: /<robot_namespace>/map
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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: /<robot_namespace>/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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inflation_layer:
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plugin: nav2_costmap_2d::InflationLayer
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enabled: true
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cost_scaling_factor: 1.5
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inflation_radius: 1.5
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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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planner_server:
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ros__parameters:
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use_sim_time: false
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planner_plugins: [GridBased]
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GridBased:
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plugin: nav2_smac_planner/SmacPlanner2D
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tolerance: 0.125 # tolerance for planning if unable to reach exact pose, in meters
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downsample_costmap: false # whether or not to downsample the map
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downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
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allow_unknown: true # allow traveling in unknown space
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max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
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max_on_approach_iterations: 1000 # maximum number of iterations to attempt to reach goal once in tolerance
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max_planning_time: 2.0 # max time in s for planner to plan, smooth
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motion_model_for_search: MOORE # 2D Moore, Von Neumann
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cost_travel_multiplier: 2.0 # Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*.
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use_final_approach_orientation: false # Whether to set the final path pose at the goal's orientation to the requested orientation (false) or in line with the approach angle so the robot doesn't rotate to heading (true)
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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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recoveries_server:
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ros__parameters:
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use_sim_time: false
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global_frame: <robot_namespace>/odom
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robot_base_frame: <robot_namespace>/base_link
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transform_tolerance: 0.1
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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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recovery_plugins: [spin, backup, wait]
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spin:
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plugin: nav2_recoveries/Spin
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backup:
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plugin: nav2_recoveries/BackUp
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wait:
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plugin: nav2_recoveries/Wait
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# spin & backup
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simulate_ahead_time: 2.0
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# spin
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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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behavior_server:
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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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use_sim_time: false
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loop_rate: 20
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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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### LOCALIZATION ###
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amcl:
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ros__parameters:
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use_sim_time: false
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global_frame_id: <robot_namespace>/map
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odom_frame_id: <robot_namespace>/odom
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base_frame_id: <robot_namespace>/base_link
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scan_topic: /<robot_namespace>/scan
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robot_model_type: nav2_amcl::DifferentialMotionModel
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set_initial_pose: true
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always_reset_initial_pose: true
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initial_pose:
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x: 0.0
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y: 0.0
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yaw: 0.0
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tf_broadcast: true
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transform_tolerance: 1.0
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alpha1: 0.2
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alpha2: 0.2
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alpha3: 0.2
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alpha4: 0.2
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alpha5: 0.2
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# Beam skipping - ignores beams for which a majoirty of particles do not agree with the map
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# prevents correct particles from getting down weighted because of unexpected obstacles
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# such as humans
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do_beamskip: false
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beam_skip_distance: 0.5
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beam_skip_error_threshold: 0.9
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beam_skip_threshold: 0.3
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lambda_short: 0.1
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laser_model_type: likelihood_field
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laser_likelihood_max_dist: 2.0
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laser_max_range: 12.0
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laser_min_range: -1.0
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max_beams: 60
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max_particles: 2000
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min_particles: 500
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pf_err: 0.05
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pf_z: 0.99
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recovery_alpha_fast: 0.0
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recovery_alpha_slow: 0.0
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resample_interval: 1
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save_pose_rate: 0.5
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sigma_hit: 0.2
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update_min_a: 0.1
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update_min_d: 0.15
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z_hit: 0.5
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z_max: 0.05
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z_rand: 0.5
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z_short: 0.05
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amcl_map_client:
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|
ros__parameters:
|
||
|
|
use_sim_time: false
|
||
|
|
|
||
|
|
amcl_rclcpp_node:
|
||
|
|
ros__parameters:
|
||
|
|
use_sim_time: false
|
||
|
|
|
||
|
|
### MAP SERVER ###
|
||
|
|
|
||
|
|
map_server:
|
||
|
|
ros__parameters:
|
||
|
|
use_sim_time: false
|
||
|
|
yaml_filename: map.yaml
|
||
|
|
frame_id: <robot_namespace>/map
|
||
|
|
|
||
|
|
### SLAM ###
|
||
|
|
|
||
|
|
<robot_namespace>/slam_toolbox:
|
||
|
|
ros__parameters:
|
||
|
|
# Plugin params
|
||
|
|
solver_plugin: solver_plugins::CeresSolver
|
||
|
|
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
|
||
|
|
ceres_preconditioner: SCHUR_JACOBI
|
||
|
|
ceres_trust_strategy: LEVENBERG_MARQUARDT
|
||
|
|
ceres_dogleg_type: TRADITIONAL_DOGLEG
|
||
|
|
ceres_loss_function: None #HuberLoss
|
||
|
|
|
||
|
|
# ROS Parameters
|
||
|
|
odom_frame: <robot_namespace>/odom
|
||
|
|
map_frame: <robot_namespace>/map
|
||
|
|
base_frame: <robot_namespace>/base_link
|
||
|
|
scan_topic: /<robot_namespace>/scan
|
||
|
|
mode: mapping #localization
|
||
|
|
|
||
|
|
debug_logging: false
|
||
|
|
throttle_scans: 1
|
||
|
|
transform_publish_period: 0.04
|
||
|
|
map_update_interval: 1.0
|
||
|
|
resolution: 0.1
|
||
|
|
max_laser_range: 12.0 #for rastering images
|
||
|
|
minimum_time_interval: 0.05
|
||
|
|
transform_timeout: 0.5
|
||
|
|
tf_buffer_duration: 20.0
|
||
|
|
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
|
||
|
|
enable_interactive_mode: false
|
||
|
|
|
||
|
|
# General Parameters
|
||
|
|
use_scan_matching: true
|
||
|
|
use_scan_barycenter: true
|
||
|
|
minimum_travel_distance: 0.2
|
||
|
|
minimum_travel_heading: 0.1
|
||
|
|
scan_buffer_size: 10
|
||
|
|
scan_buffer_maximum_scan_distance: 0.5
|
||
|
|
link_match_minimum_response_fine: 0.1
|
||
|
|
link_scan_maximum_distance: 0.75
|
||
|
|
loop_search_maximum_distance: 3.0
|
||
|
|
do_loop_closing: true
|
||
|
|
loop_match_minimum_chain_size: 10
|
||
|
|
loop_match_maximum_variance_coarse: 3.0
|
||
|
|
loop_match_minimum_response_coarse: 0.35
|
||
|
|
loop_match_minimum_response_fine: 0.45
|
||
|
|
|
||
|
|
# Correlation Parameters - Correlation Parameters
|
||
|
|
correlation_search_space_dimension: 0.5
|
||
|
|
correlation_search_space_resolution: 0.01
|
||
|
|
correlation_search_space_smear_deviation: 0.1
|
||
|
|
|
||
|
|
# Correlation Parameters - Loop Closure Parameters
|
||
|
|
loop_search_space_dimension: 8.0
|
||
|
|
loop_search_space_resolution: 0.05
|
||
|
|
loop_search_space_smear_deviation: 0.03
|
||
|
|
|
||
|
|
# Scan Matcher Parameters
|
||
|
|
distance_variance_penalty: 0.5
|
||
|
|
angle_variance_penalty: 1.0
|
||
|
|
|
||
|
|
fine_search_angle_offset: 0.00349
|
||
|
|
coarse_search_angle_offset: 0.349
|
||
|
|
coarse_angle_resolution: 0.0349
|
||
|
|
minimum_angle_penalty: 0.9
|
||
|
|
minimum_distance_penalty: 0.5
|
||
|
|
use_response_expansion: true
|
||
|
|
|
||
|
|
use_sim_time: false
|