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Nav2 config that hangs on calls to planner_server

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May 24th, 2022
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  1. amcl:
  2.   ros__parameters:
  3.     use_sim_time: False
  4.     alpha1: 0.2
  5.     alpha2: 0.2
  6.     alpha3: 0.2
  7.     alpha4: 0.2
  8.     alpha5: 0.2
  9.     base_frame_id: "base_footprint"
  10.     beam_skip_distance: 0.5
  11.     beam_skip_error_threshold: 0.9
  12.     beam_skip_threshold: 0.3
  13.     do_beamskip: false
  14.     global_frame_id: "map"
  15.     lambda_short: 0.1
  16.     laser_likelihood_max_dist: 2.0
  17.     laser_max_range: 100.0
  18.     laser_min_range: -1.0
  19.     laser_model_type: "likelihood_field"
  20.     max_beams: 60
  21.     max_particles: 2000
  22.     min_particles: 500
  23.     odom_frame_id: "odom"
  24.     pf_err: 0.05
  25.     pf_z: 0.99
  26.     recovery_alpha_fast: 0.0
  27.     recovery_alpha_slow: 0.0
  28.     resample_interval: 1
  29.     robot_model_type: "nav2_amcl::DifferentialMotionModel"
  30.     save_pose_rate: 0.5
  31.     sigma_hit: 0.2
  32.     tf_broadcast: true
  33.     transform_tolerance: 1.0
  34.     update_min_a: 0.2
  35.     update_min_d: 0.25
  36.     z_hit: 0.5
  37.     z_max: 0.05
  38.     z_rand: 0.5
  39.     z_short: 0.05
  40.     scan_topic: scan
  41.  
  42. amcl_map_client:
  43.   ros__parameters:
  44.     use_sim_time: False
  45.  
  46. amcl_rclcpp_node:
  47.   ros__parameters:
  48.     use_sim_time: False
  49.  
  50. bt_navigator:
  51.   ros__parameters:
  52.     use_sim_time: False
  53.     global_frame: map
  54.     robot_base_frame: base_link
  55.     odom_topic: /odom
  56.     bt_loop_duration: 10
  57.     default_server_timeout: 20
  58.     default_bt_xml_filename: /opt/ros/BIRDSEYE_WS/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml
  59.     default_nav_to_pose_bt_xml: /opt/ros/BIRDSEYE_WS/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml
  60.     default_nav_through_poses_bt_xml: /opt/ros/BIRDSEYE_WS/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml
  61.     enable_groot_monitoring: True
  62.     groot_zmq_publisher_port: 1666
  63.     groot_zmq_server_port: 1667
  64.     # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
  65.     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
  66.     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
  67.     # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
  68.     plugin_lib_names:
  69.    - nav2_compute_path_to_pose_action_bt_node
  70.     # - nav2_compute_path_through_poses_action_bt_node
  71.     # - nav2_smooth_path_action_bt_node
  72.     - nav2_follow_path_action_bt_node
  73.    
  74.     - nav2_spin_action_bt_node
  75.     - nav2_wait_action_bt_node
  76.     - nav2_back_up_action_bt_node
  77.     - nav2_clear_costmap_service_bt_node
  78.     - nav2_is_stuck_condition_bt_node
  79.     - nav2_goal_reached_condition_bt_node
  80.     - nav2_goal_updated_condition_bt_node
  81.     # - nav2_globally_updated_goal_condition_bt_node
  82.     # - nav2_is_path_valid_condition_bt_node
  83.     - nav2_initial_pose_received_condition_bt_node
  84.     - nav2_reinitialize_global_localization_service_bt_node
  85.     - nav2_rate_controller_bt_node
  86.     - nav2_distance_controller_bt_node
  87.     - nav2_speed_controller_bt_node
  88.     - nav2_truncate_path_action_bt_node
  89.     - nav2_goal_updater_node_bt_node
  90.     - nav2_recovery_node_bt_node
  91.     - nav2_pipeline_sequence_bt_node
  92.     - nav2_round_robin_node_bt_node
  93.     - nav2_transform_available_condition_bt_node
  94.     - nav2_time_expired_condition_bt_node
  95.     # - nav2_path_expiring_timer_condition
  96.     - nav2_distance_traveled_condition_bt_node
  97.     # - nav2_single_trigger_bt_node
  98.     - nav2_is_battery_low_condition_bt_node
  99.     # - nav2_navigate_through_poses_action_bt_node
  100.     - nav2_navigate_to_pose_action_bt_node
  101.     - nav2_remove_passed_goals_action_bt_node
  102.     # - nav2_planner_selector_bt_node
  103.     # - nav2_controller_selector_bt_node
  104.     # - nav2_goal_checker_selector_bt_node
  105.     # - nav2_controller_cancel_bt_node
  106.     # - nav2_path_longer_on_approach_bt_node
  107.     # - nav2_wait_cancel_bt_node
  108.     # - nav2_spin_cancel_bt_node
  109.     # - nav2_back_up_cancel_bt_node
  110.  
  111. bt_navigator_rclcpp_node:
  112.   ros__parameters:
  113.     use_sim_time: False
  114.  
  115. controller_server:
  116.   ros__parameters:
  117.     use_sim_time: False
  118.     controller_frequency: 20.0
  119.     min_x_velocity_threshold: 0.001
  120.     min_y_velocity_threshold: 0.5
  121.     min_theta_velocity_threshold: 0.001
  122.     failure_tolerance: 0.3
  123.     odom_topic: "odom"
  124.     progress_checker_plugin: "progress_checker"
  125.     goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
  126.     controller_plugins: ["FollowPath"]
  127.  
  128.     # Progress checker parameters
  129.     progress_checker:
  130.       plugin: "nav2_controller::SimpleProgressChecker"
  131.       required_movement_radius: 0.5
  132.       movement_time_allowance: 10.0
  133.     # Goal checker parameters
  134.     #precise_goal_checker:
  135.     #  plugin: "nav2_controller::SimpleGoalChecker"
  136.     #  xy_goal_tolerance: 0.25
  137.     #  yaw_goal_tolerance: 0.25
  138.     #  stateful: True
  139.     general_goal_checker:
  140.       stateful: True
  141.       plugin: "nav2_controller::SimpleGoalChecker"
  142.       xy_goal_tolerance: 0.25
  143.       yaw_goal_tolerance: 0.25
  144.     # DWB parameters
  145.     FollowPath:
  146.       plugin: "dwb_core::DWBLocalPlanner"
  147.       debug_trajectory_details: True
  148.       min_vel_x: 0.0
  149.       min_vel_y: 0.0
  150.       max_vel_x: 0.26
  151.       max_vel_y: 0.0
  152.       max_vel_theta: 1.0
  153.       min_speed_xy: 0.0
  154.       max_speed_xy: 0.26
  155.       min_speed_theta: 0.0
  156.       # Add high threshold velocity for turtlebot 3 issue.
  157.       # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
  158.       acc_lim_x: 2.5
  159.       acc_lim_y: 0.0
  160.       acc_lim_theta: 3.2
  161.       decel_lim_x: -2.5
  162.       decel_lim_y: 0.0
  163.       decel_lim_theta: -3.2
  164.       vx_samples: 20
  165.       vy_samples: 5
  166.       vtheta_samples: 20
  167.       sim_time: 1.7
  168.       linear_granularity: 0.05
  169.       angular_granularity: 0.025
  170.       transform_tolerance: 0.2
  171.       xy_goal_tolerance: 0.25
  172.       trans_stopped_velocity: 0.25
  173.       short_circuit_trajectory_evaluation: True
  174.       stateful: True
  175.       critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
  176.       BaseObstacle.scale: 0.02
  177.       PathAlign.scale: 32.0
  178.       PathAlign.forward_point_distance: 0.1
  179.       GoalAlign.scale: 24.0
  180.       GoalAlign.forward_point_distance: 0.1
  181.       PathDist.scale: 32.0
  182.       GoalDist.scale: 24.0
  183.       RotateToGoal.scale: 32.0
  184.       RotateToGoal.slowing_factor: 5.0
  185.       RotateToGoal.lookahead_time: -1.0
  186.  
  187. controller_server_rclcpp_node:
  188.   ros__parameters:
  189.     use_sim_time: False
  190.  
  191. local_costmap:
  192.   local_costmap:
  193.     ros__parameters:
  194.       update_frequency: 5.0
  195.       publish_frequency: 2.0
  196.       global_frame: odom
  197.       robot_base_frame: base_link
  198.       use_sim_time: False
  199.       rolling_window: true
  200.       width: 3
  201.       height: 3
  202.       resolution: 0.05
  203.       robot_radius: 0.22
  204.       plugins: ["voxel_layer", "inflation_layer"]
  205.       inflation_layer:
  206.         plugin: "nav2_costmap_2d::InflationLayer"
  207.         cost_scaling_factor: 3.0
  208.         inflation_radius: 0.55
  209.       voxel_layer:
  210.         plugin: "nav2_costmap_2d::VoxelLayer"
  211.         enabled: True
  212.         publish_voxel_map: True
  213.         origin_z: 0.0
  214.         z_resolution: 0.05
  215.         z_voxels: 16
  216.         max_obstacle_height: 2.0
  217.         mark_threshold: 0
  218.         observation_sources: scan
  219.         scan:
  220.           topic: /scan
  221.           max_obstacle_height: 2.0
  222.           clearing: True
  223.           marking: True
  224.           data_type: "LaserScan"
  225.           raytrace_max_range: 3.0
  226.           raytrace_min_range: 0.0
  227.           obstacle_max_range: 2.5
  228.           obstacle_min_range: 0.0
  229.       static_layer:
  230.         map_subscribe_transient_local: True
  231.       always_send_full_costmap: True
  232.   local_costmap_client:
  233.     ros__parameters:
  234.       use_sim_time: False
  235.   local_costmap_rclcpp_node:
  236.     ros__parameters:
  237.       use_sim_time: False
  238.  
  239. global_costmap:
  240.   global_costmap:
  241.     ros__parameters:
  242.       update_frequency: 1.0
  243.       publish_frequency: 1.0
  244.       global_frame: map
  245.       robot_base_frame: base_link
  246.       use_sim_time: False
  247.       robot_radius: 0.22
  248.       resolution: 0.05
  249.       track_unknown_space: true
  250.       plugins: ["static_layer", "inflation_layer"]
  251.       # obstacle_layer:
  252.       #   plugin: "nav2_costmap_2d::ObstacleLayer"
  253.       #   enabled: False
  254.       #   observation_sources: scan
  255.       #   scan:
  256.       #     topic: /scan
  257.       #     max_obstacle_height: 2.0
  258.       #     clearing: True
  259.       #     marking: True
  260.       #     data_type: "LaserScan"
  261.       #     raytrace_max_range: 3.0
  262.       #     raytrace_min_range: 0.0
  263.       #     obstacle_max_range: 2.5
  264.       #     obstacle_min_range: 0.0
  265.       static_layer:
  266.         plugin: "nav2_costmap_2d::StaticLayer"
  267.         map_subscribe_transient_local: True
  268.       inflation_layer:
  269.         plugin: "nav2_costmap_2d::InflationLayer"
  270.         cost_scaling_factor: 3.0
  271.         inflation_radius: 0.55
  272.       always_send_full_costmap: True
  273.   global_costmap_client:
  274.     ros__parameters:
  275.       use_sim_time: False
  276.   global_costmap_rclcpp_node:
  277.     ros__parameters:
  278.       use_sim_time: False
  279.  
  280. map_server:
  281.   ros__parameters:
  282.     use_sim_time: False
  283.     yaml_filename: "turtlebot3_world.yaml"
  284.  
  285. map_saver:
  286.   ros__parameters:
  287.     use_sim_time: False
  288.     save_map_timeout: 5.0
  289.     free_thresh_default: 0.25
  290.     occupied_thresh_default: 0.65
  291.     map_subscribe_transient_local: True
  292.  
  293. planner_server:
  294.   ros__parameters:
  295.     expected_planner_frequency: 20.0
  296.     use_sim_time: False
  297.     planner_plugins: ["GridBased"]
  298.     GridBased:
  299.       plugin: "nav2_navfn_planner/NavfnPlanner"
  300.       tolerance: 0.5
  301.       use_astar: false
  302.       allow_unknown: true
  303.  
  304. planner_server_rclcpp_node:
  305.   ros__parameters:
  306.     use_sim_time: False
  307.  
  308. smoother_server:
  309.   ros__parameters:
  310.     use_sim_time: False
  311.     smoother_plugins: ["simple_smoother"]
  312.     simple_smoother:
  313.       plugin: "nav2_smoother::SimpleSmoother"
  314.       tolerance: 1.0e-10
  315.       max_its: 1000
  316.       do_refinement: True
  317.  
  318. robot_state_publisher:
  319.   ros__parameters:
  320.     use_sim_time: False
  321.  
  322. waypoint_follower:
  323.   ros__parameters:
  324.     loop_rate: 20
  325.     stop_on_failure: false
  326.     waypoint_task_executor_plugin: "wait_at_waypoint"
  327.     wait_at_waypoint:
  328.       plugin: "nav2_waypoint_follower::WaitAtWaypoint"
  329.       enabled: True
  330.       waypoint_pause_duration: 200
  331.  
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