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  1. # lifecycle_manager:
  2. #   ros__parameters:
  3. #     autostart: true
  4. #     node_names: ['controller_server', 'planner_server', 'recoveries_server', 'bt_navigator', 'waypoint_follower', 'amcl']
  5. #     bond_timeout: 4.0
  6.  
  7. amcl:
  8.   ros__parameters:
  9.     alpha1: 0.2
  10.     alpha2: 0.2
  11.     alpha3: 0.2
  12.     alpha4: 0.2
  13.     alpha5: 0.2
  14.     base_frame_id: "base_footprint"
  15.     beam_skip_distance: 0.5
  16.     beam_skip_error_threshold: 0.9
  17.     beam_skip_threshold: 0.3
  18.     do_beamskip: false
  19.     global_frame_id: "map"
  20.     lambda_short: 0.1
  21.     set_initial_pose: false
  22.     laser_likelihood_max_dist: 2.0
  23.     laser_max_range: 100.0
  24.     laser_min_range: -1.0
  25.     laser_model_type: "likelihood_field"
  26.     max_beams: 60
  27.     max_particles: 2000
  28.     min_particles: 500
  29.     odom_frame_id: "odom"
  30.     pf_err: 0.05
  31.     pf_z: 0.99
  32.     recovery_alpha_fast: 0.0
  33.     recovery_alpha_slow: 0.0
  34.     resample_interval: 1
  35.     robot_model_type: "differential"
  36.     save_pose_rate: 0.5
  37.     sigma_hit: 0.2
  38.     tf_broadcast: true
  39.     transform_tolerance: 1.0
  40.     update_min_a: 0.2
  41.     update_min_d: 0.25
  42.     z_hit: 0.5
  43.     z_max: 0.05
  44.     z_rand: 0.5
  45.     z_short: 0.05
  46.     always_reset_initial_pose: false
  47.     scan_topic: scan
  48.     map_topic: map
  49.  
  50. amcl_map_client:
  51.   ros__parameters:
  52.     use_sim_time: False
  53.  
  54. amcl_rclcpp_node:
  55.   ros__parameters:
  56.     use_sim_time: False
  57.  
  58. bt_navigator:
  59.   ros__parameters:
  60.     use_sim_time: False
  61.     global_frame: map
  62.     robot_base_frame: base_link
  63.     odom_topic: /odom
  64.     enable_groot_monitoring: True
  65.     groot_zmq_publisher_port: 1666
  66.     groot_zmq_server_port: 1667
  67.     default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
  68.     plugin_lib_names:
  69.    - nav2_compute_path_to_pose_action_bt_node
  70.     - nav2_follow_path_action_bt_node
  71.     - nav2_back_up_action_bt_node
  72.     - nav2_spin_action_bt_node
  73.     - nav2_wait_action_bt_node
  74.     - nav2_clear_costmap_service_bt_node
  75.     - nav2_is_stuck_condition_bt_node
  76.     - nav2_goal_reached_condition_bt_node
  77.     - nav2_goal_updated_condition_bt_node
  78.     - nav2_initial_pose_received_condition_bt_node
  79.     - nav2_reinitialize_global_localization_service_bt_node
  80.     - nav2_rate_controller_bt_node
  81.     - nav2_distance_controller_bt_node
  82.     - nav2_speed_controller_bt_node
  83.     - nav2_truncate_path_action_bt_node
  84.     - nav2_goal_updater_node_bt_node
  85.     - nav2_recovery_node_bt_node
  86.     - nav2_pipeline_sequence_bt_node
  87.     - nav2_round_robin_node_bt_node
  88.     - nav2_transform_available_condition_bt_node
  89.     - nav2_time_expired_condition_bt_node
  90.     - nav2_distance_traveled_condition_bt_node
  91.  
  92. bt_navigator_rclcpp_node:
  93.   ros__parameters:
  94.     use_sim_time: False
  95.  
  96. controller_server:
  97.   ros__parameters:
  98.     use_sim_time: False
  99.     controller_frequency: 6.0
  100.     min_x_velocity_threshold: 0.001
  101.     min_y_velocity_threshold: 0.5
  102.     min_theta_velocity_threshold: 0.001
  103.     progress_checker_plugin: "progress_checker"
  104.     goal_checker_plugin: "goal_checker"
  105.     controller_plugins: ["FollowPath"]
  106.  
  107.     # Progress checker parameters
  108.     progress_checker:
  109.       plugin: "nav2_controller::SimpleProgressChecker"
  110.       required_movement_radius: 0.5
  111.       movement_time_allowance: 10.0
  112.     # Goal checker parameters
  113.     goal_checker:
  114.       plugin: "nav2_controller::SimpleGoalChecker"
  115.       xy_goal_tolerance: 0.25
  116.       yaw_goal_tolerance: 0.25
  117.       stateful: True
  118.     # DWB parameters
  119.     FollowPath:
  120.       plugin: "dwb_core::DWBLocalPlanner"
  121.       debug_trajectory_details: True
  122.       min_vel_x: 0.0
  123.       min_vel_y: 0.0
  124.       max_vel_x: 0.26
  125.       max_vel_y: 0.0
  126.       max_vel_theta: 1.0
  127.       min_speed_xy: 0.0
  128.       max_speed_xy: 0.26
  129.       min_speed_theta: 0.0
  130.       # Add high threshold velocity for turtlebot 3 issue.
  131.       # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
  132.       acc_lim_x: 2.5
  133.       acc_lim_y: 0.0
  134.       acc_lim_theta: 3.2
  135.       decel_lim_x: -2.5
  136.       decel_lim_y: 0.0
  137.       decel_lim_theta: -3.2
  138.       vx_samples: 20
  139.       vy_samples: 5
  140.       vtheta_samples: 20
  141.       sim_time: 1.7
  142.       linear_granularity: 0.05
  143.       angular_granularity: 0.025
  144.       transform_tolerance: 0.2
  145.       xy_goal_tolerance: 0.25
  146.       trans_stopped_velocity: 0.25
  147.       short_circuit_trajectory_evaluation: True
  148.       stateful: True
  149.       critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
  150.       BaseObstacle.scale: 0.02
  151.       PathAlign.scale: 32.0
  152.       PathAlign.forward_point_distance: 0.1
  153.       GoalAlign.scale: 24.0
  154.       GoalAlign.forward_point_distance: 0.1
  155.       PathDist.scale: 32.0
  156.       GoalDist.scale: 24.0
  157.       RotateToGoal.scale: 32.0
  158.       RotateToGoal.slowing_factor: 5.0
  159.       RotateToGoal.lookahead_time: -1.0
  160.  
  161. controller_server_rclcpp_node:
  162.   ros__parameters:
  163.     use_sim_time: False
  164.  
  165. local_costmap:
  166.   local_costmap:
  167.     ros__parameters:
  168.       update_frequency: 5.0
  169.       publish_frequency: 2.0
  170.       global_frame: odom
  171.       robot_base_frame: base_link
  172.       use_sim_time: False
  173.       rolling_window: true
  174.       width: 3
  175.       height: 3
  176.       resolution: 0.05
  177.       robot_radius: 0.22
  178.       plugins: ["voxel_layer", "inflation_layer"]
  179.       inflation_layer:
  180.         plugin: "nav2_costmap_2d::InflationLayer"
  181.         cost_scaling_factor: 10.0
  182.         inflation_radius: 0.55
  183.       voxel_layer:
  184.         plugin: "nav2_costmap_2d::VoxelLayer"
  185.         enabled: True
  186.         publish_voxel_map: True
  187.         origin_z: 0.0
  188.         z_resolution: 0.1
  189.         z_voxels: 3
  190.         max_obstacle_height: 2.0
  191.         mark_threshold: 0
  192.         observation_sources: scan
  193.         scan:
  194.           topic: /scan
  195.           max_obstacle_height: 2.0
  196.           clearing: True
  197.           marking: True
  198.           data_type: "LaserScan"
  199.       static_layer:
  200.         map_subscribe_transient_local: True
  201.       always_send_full_costmap: True
  202.   local_costmap_client:
  203.     ros__parameters:
  204.       use_sim_time: False
  205.   local_costmap_rclcpp_node:
  206.     ros__parameters:
  207.       use_sim_time: False
  208.  
  209. global_costmap:
  210.   global_costmap:
  211.     ros__parameters:
  212.       update_frequency: 1.0
  213.       publish_frequency: 0.25
  214.       global_frame: map
  215.       robot_base_frame: base_link
  216.       use_sim_time: False
  217.       robot_radius: 0.22
  218.       resolution: 0.05
  219.       track_unknown_space: true
  220.       plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
  221.       obstacle_layer:
  222.         plugin: "nav2_costmap_2d::ObstacleLayer"
  223.         enabled: True
  224.         observation_sources: scan
  225.         scan:
  226.           topic: /scan
  227.           max_obstacle_height: 2.0
  228.           clearing: True
  229.           marking: True
  230.           data_type: "LaserScan"
  231.       static_layer:
  232.         plugin: "nav2_costmap_2d::StaticLayer"
  233.         map_subscribe_transient_local: True
  234.       inflation_layer:
  235.         plugin: "nav2_costmap_2d::InflationLayer"
  236.         cost_scaling_factor: 10.0
  237.         inflation_radius: 0.3
  238.       always_send_full_costmap: True
  239.   global_costmap_client:
  240.     ros__parameters:
  241.       use_sim_time: False
  242.   global_costmap_rclcpp_node:
  243.     ros__parameters:
  244.       use_sim_time: False
  245.  
  246. map_server:
  247.   ros__parameters:
  248.     use_sim_time: False
  249.     yaml_filename: "map.yaml"
  250.  
  251. map_saver:
  252.   ros__parameters:
  253.     use_sim_time: False
  254.     save_map_timeout: 10000
  255.     free_thresh_default: 0.25
  256.     occupied_thresh_default: 0.65
  257.     map_subscribe_transient_local: False
  258.  
  259. planner_server:
  260.   ros__parameters:
  261.     expected_planner_frequency: 20.0
  262.     use_sim_time: False
  263.     planner_plugins: ["GridBased"]
  264.     GridBased:
  265.       plugin: "nav2_navfn_planner/NavfnPlanner"
  266.       tolerance: 0.5
  267.       use_astar: false
  268.       allow_unknown: true
  269.  
  270. planner_server_rclcpp_node:
  271.   ros__parameters:
  272.     use_sim_time: False
  273.  
  274. recoveries_server:
  275.   ros__parameters:
  276.     costmap_topic: local_costmap/costmap_raw
  277.     footprint_topic: local_costmap/published_footprint
  278.     cycle_frequency: 10.0
  279.     recovery_plugins: ["spin", "back_up", "wait"]
  280.     spin:
  281.       plugin: "nav2_recoveries/Spin"
  282.     back_up:
  283.       plugin: "nav2_recoveries/BackUp"
  284.     wait:
  285.       plugin: "nav2_recoveries/Wait"
  286.     global_frame: odom
  287.     robot_base_frame: base_link
  288.     transform_timeout: 0.1
  289.     use_sim_time: False
  290.     simulate_ahead_time: 2.0
  291.     max_rotational_vel: 1.0
  292.     min_rotational_vel: 0.4
  293.     rotational_acc_lim: 3.2
  294.  
  295. robot_state_publisher:
  296.   ros__parameters:
  297.     use_sim_time: False
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