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Commit 00164b72 authored by Will Son's avatar Will Son
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Nav2 param update for Foxy

parent cfcee3c5
foxy-devel feature-nav2-update
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+360 -136
turtlebot3_navigation2/param/burger.yaml
+ 180
− 68
View file @ 00164b72
......@@ -49,68 +49,138 @@ amcl_rclcpp_node:
bt_navigator:
ros__parameters:
use_sim_time: False
bt_xml_filename: "bt_navigator.xml"
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_back_up_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_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_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_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_distance_traveled_condition_bt_node
dwb_controller:
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: False
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 0.22
max_vel_y: 0.0
max_vel_theta: 1.0
min_speed_xy: 0.0
max_speed_xy: 0.22
min_speed_theta: 0.0
controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
xy_goal_tolerance: 0.25
transform_tolerance: 0.2
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 0.0
GoalAlign.scale: 0.0
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
controller_plugins: ["FollowPath"]
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 0.22
max_vel_y: 0.0
max_vel_theta: 1.0
min_speed_xy: 0.0
max_speed_xy: 0.22
min_speed_theta: 0.0
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: False
local_costmap:
local_costmap:
ros__parameters:
use_sim_time: False
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
plugin_names: ["obstacle_layer", "inflation_layer"]
plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::InflationLayer"]
robot_base_frame: base_link
use_sim_time: False
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.105
inflation_layer.cost_scaling_factor: 3.0
plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
always_send_full_costmap: True
observation_sources: scan
scan:
topic: /scan
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
clearing: True
marking: True
mark_threshold: 0
observation_sources: pointcloud
pointcloud:
topic: /intel_realsense_r200_depth/points
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "PointCloud2"
static_layer:
map_subscribe_transient_local: True
always_send_full_costmap: True
local_costmap_client:
ros__parameters:
use_sim_time: False
......@@ -121,17 +191,46 @@ local_costmap:
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: False
robot_radius: 0.105
resolution: 0.05
plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
always_send_full_costmap: True
observation_sources: scan
scan:
topic: /scan
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
clearing: True
marking: True
mark_threshold: 0
observation_sources: pointcloud
pointcloud:
topic: /intel_realsense_r200_depth/points
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "PointCloud2"
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: False
......@@ -142,38 +241,51 @@ global_costmap:
map_server:
ros__parameters:
use_sim_time: False
yaml_filename: "map.yaml"
yaml_filename: "turtlebot3_world.yaml"
lifecycle_manager:
map_saver:
ros__parameters:
use_sim_time: False
autostart: True
node_names: ['map_server', 'amcl',
'world_model', 'dwb_controller',
'navfn_planner', 'bt_navigator']
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
lifecycle_manager_service_client:
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
lifecycle_manager_client_service_client:
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: False
navfn_planner:
ros__parameters:
use_sim_time: False
tolerance: 0.0
use_astar: false
navfn_planner_GetCostmap_client:
recoveries_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
recovery_plugins: ["spin", "backup", "wait"]
spin:
plugin: "nav2_recoveries/Spin"
backup:
plugin: "nav2_recoveries/BackUp"
wait:
plugin: "nav2_recoveries/Wait"
global_frame: odom
robot_base_frame: base_link
transform_timeout: 0.1
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
world_model:
ros__parameters:
use_sim_time: False
turtlebot3_navigation2/param/waffle.yaml
+ 180
− 68
View file @ 00164b72
......@@ -49,68 +49,138 @@ amcl_rclcpp_node:
bt_navigator:
ros__parameters:
use_sim_time: False
bt_xml_filename: "bt_navigator.xml"
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_back_up_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_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_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_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_distance_traveled_condition_bt_node
dwb_controller:
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: False
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 0.26
max_vel_y: 0.0
max_vel_theta: 1.0
min_speed_xy: 0.0
max_speed_xy: 0.26
min_speed_theta: 0.0
controller_server:
ros__parameters:
use_sim_time: False
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
xy_goal_tolerance: 0.25
transform_tolerance: 0.2
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 0.0
GoalAlign.scale: 0.0
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
controller_plugins: ["FollowPath"]
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 0.26
max_vel_y: 0.0
max_vel_theta: 1.0
min_speed_xy: 0.0
max_speed_xy: 0.26
min_speed_theta: 0.0
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
decel_lim_y: 0.0
decel_lim_theta: -3.2
vx_samples: 20
vy_samples: 5
vtheta_samples: 20
sim_time: 1.7
linear_granularity: 0.05
angular_granularity: 0.025
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1
GoalAlign.scale: 24.0
GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0
GoalDist.scale: 24.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: False
local_costmap:
local_costmap:
ros__parameters:
use_sim_time: False
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
plugin_names: ["obstacle_layer", "inflation_layer"]
plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::InflationLayer"]
robot_base_frame: base_link
use_sim_time: False
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.22
inflation_layer.cost_scaling_factor: 3.0
plugin_names: ["obstacle_layer", "voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
always_send_full_costmap: True
observation_sources: scan
scan:
topic: /scan
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
clearing: True
marking: True
mark_threshold: 0
observation_sources: pointcloud
pointcloud:
topic: /intel_realsense_r200_depth/points
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "PointCloud2"
static_layer:
map_subscribe_transient_local: True
always_send_full_costmap: True
local_costmap_client:
ros__parameters:
use_sim_time: False
......@@ -121,17 +191,46 @@ local_costmap:
global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publsih_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: False
robot_radius: 0.22
resolution: 0.05
plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
always_send_full_costmap: True
observation_sources: scan
scan:
topic: /scan
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
clearing: True
marking: True
mark_threshold: 0
observation_sources: pointcloud
pointcloud:
topic: /intel_realsense_r200_depth/points
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "PointCloud2"
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: False
......@@ -142,38 +241,51 @@ global_costmap:
map_server:
ros__parameters:
use_sim_time: False
yaml_filename: "map.yaml"
yaml_filename: "turtlebot3_world.yaml"
lifecycle_manager:
map_saver:
ros__parameters:
use_sim_time: False
autostart: True
node_names: ['map_server', 'amcl',
'world_model', 'dwb_controller',
'navfn_planner', 'bt_navigator']
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
lifecycle_manager_service_client:
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
lifecycle_manager_client_service_client:
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: False
navfn_planner:
ros__parameters:
use_sim_time: False
tolerance: 0.0
use_astar: false
navfn_planner_GetCostmap_client:
recoveries_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 10.0
recovery_plugins: ["spin", "backup", "wait"]
spin:
plugin: "nav2_recoveries/Spin"
backup:
plugin: "nav2_recoveries/BackUp"
wait:
plugin: "nav2_recoveries/Wait"
global_frame: odom
robot_base_frame: base_link
transform_timeout: 0.1
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
world_model:
ros__parameters:
use_sim_time: False
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