clhchan
376 lines
12 KiB
YAML
376 lines
12 KiB
YAML
amcl:
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ros__parameters:
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use_sim_time: False
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alpha1: 0.4
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alpha2: 0.3
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alpha3: 0.1
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alpha4: 0.1
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alpha5: 0.04
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base_frame_id: "base_footprint"
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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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do_beamskip: false
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global_frame_id: "map"
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lambda_short: 0.1
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laser_likelihood_max_dist: 2.0
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# /* 阶段4修改：AMCL 激光匹配最大有效距离，限制远距离无效数据影响粒子权重，初始值为 100.0m */
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laser_max_range: 10.0
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# /* 阶段4修改：AMCL 激光匹配最小有效距离，过滤雷达近距盲区数据，初始值为 -1.0 */
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laser_min_range: 0.2
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laser_model_type: "likelihood_field"
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# /* 阶段4修改：AMCL 每次更新采样的激光束数量，提高定位匹配信息量，初始值为 60 */
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max_beams: 90
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max_particles: 2000
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min_particles: 500
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odom_frame_id: "odom"
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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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# /* 阶段4修改：AMCL 粒子重采样间隔，提高低速接近目标时的定位收敛及时性，初始值为 2 */
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resample_interval: 1
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# /* 阶段4修改：AMCL 里程计运动模型，减少未使用 y 方向速度时的横向运动假设，初始值为 nav2_amcl::OmniMotionModel */
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robot_model_type: "nav2_amcl::DifferentialMotionModel"
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save_pose_rate: 0.5
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# /* 阶段4修改：AMCL 激光命中似然标准差，降低真实车地图匹配误差导致的权重过敏感，初始值为 0.02 */
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sigma_hit: 0.04
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tf_broadcast: true
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transform_tolerance: 0.3
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# /* 方案2修改：降低 AMCL 角度更新触发阈值，让目标附近低速小角度调整时定位更新更及时，初始值为 0.06rad */
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update_min_a: 0.04
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# /* 方案2修改：降低 AMCL 位移更新触发阈值，让目标附近低速接近时更频繁使用激光修正定位，初始值为 0.025m */
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update_min_d: 0.015
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z_hit: 0.7
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z_max: 0.001
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z_rand: 0.059
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z_short: 0.24
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# Initial Pose
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set_initial_pose: True
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initial_pose.x: 0.0
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initial_pose.y: 0.0
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initial_pose.z: 0.0
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initial_pose.yaw: 0.0
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amcl_map_client:
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ros__parameters:
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use_sim_time: False
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amcl_rclcpp_node:
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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: 10
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default_server_timeout: 20
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enable_groot_monitoring: True
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groot_zmq_publisher_port: 1666
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groot_zmq_server_port: 1667
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# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
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# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
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# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
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# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
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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_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_single_trigger_bt_node
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- nav2_goal_updated_controller_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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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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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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failure_tolerance: 0.3
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progress_checker_plugin: "progress_checker"
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goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
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controller_plugins: ["FollowPath"]
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# Progress checker parameters
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progress_checker:
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plugin: "nav2_controller::SimpleProgressChecker"
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required_movement_radius: 0.15
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movement_time_allowance: 8.0
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# Goal checker parameters
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#precise_goal_checker:
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# plugin: "nav2_controller::SimpleGoalChecker"
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# xy_goal_tolerance: 0.25
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# yaw_goal_tolerance: 0.25
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# stateful: True
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general_goal_checker:
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stateful: True
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plugin: "nav2_controller::SimpleGoalChecker"
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# /* 阶段2修改：最终位置成功阈值，避免 25cm 内提前判定到点，初始值为 0.25m */
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xy_goal_tolerance: 0.05
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# /* 阶段2临时验证修改：最终姿态成功阈值，放宽到约 5.7 度以验证大角度掉头时末端旋转振荡是否由 0.05rad 过严导致，初始值为 0.25rad*/
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yaw_goal_tolerance: 0.8
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# DWB parameters
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FollowPath:
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plugin: "dwb_core::DWBLocalPlanner"
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debug_trajectory_details: True
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min_vel_x: -0.03
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min_vel_y: 0.0
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max_vel_x: 0.26
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max_vel_y: 0.0
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max_vel_theta: 0.5
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min_speed_xy: 0.0
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max_speed_xy: 0.26
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min_speed_theta: 0.0
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# Add high threshold velocity for turtlebot 3 issue.
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# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
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acc_lim_x: 2.5
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acc_lim_y: 0.0
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acc_lim_theta: 2.5
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decel_lim_x: -2.5
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decel_lim_y: 0.0
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decel_lim_theta: -2.5
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vx_samples: 20
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vy_samples: 5
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vtheta_samples: 40
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sim_time: 1.7
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linear_granularity: 0.05
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angular_granularity: 0.025
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transform_tolerance: 0.1
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# /* 阶段2修改：DWB RotateToGoal 进入末端减速/旋转模式的位置窗口，避免 25cm 内过早进入末端旋转逻辑，初始值为 0.25m */
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xy_goal_tolerance: 0.03 #0.03
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# /* 阶段2修改：进入只旋转阶段前允许的最大平移速度，避免平移速度小于 0.1m/s 时过早停止平移修正，初始值为 0.1m/s */
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trans_stopped_velocity: 0.01 #0.01
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short_circuit_trajectory_evaluation: True
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stateful: True
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critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
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BaseObstacle.scale: 0.02
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PathAlign.scale: 23.0
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PathAlign.forward_point_distance: 0.1
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GoalAlign.scale: 18.0
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GoalAlign.forward_point_distance: 0.1
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PathDist.scale: 32.0
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GoalDist.scale: 24.0
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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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update_frequency: 5.0
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publish_frequency: 2.0
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global_frame: odom
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robot_base_frame: base_footprint
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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: "[[0.26, 0.18], [0.26, -0.18], [-0.26, -0.18], [-0.26, 0.18]]"
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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: 4.0
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inflation_radius: 0.30
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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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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_footprint
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use_sim_time: False
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footprint: "[[0.26, 0.18], [0.26, -0.18], [-0.26, -0.18], [-0.26, 0.18]]"
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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: 4.0
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inflation_radius: 0.30
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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_server:
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ros__parameters:
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use_sim_time: False
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# Overridden in launch by the "map" launch configuration or provided default value.
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# To use in yaml, remove the default "map" value in the navigation2_active.launch.py file & provide full path to map below.
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yaml_filename: ""
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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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expected_planner_frequency: 1.0
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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_navfn_planner/NavfnPlanner"
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# /* 阶段2修改：全局规划目标替代容差，避免 2.0m 范围内替代终点影响精度测试，初始值为 2.0m */
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tolerance: 0.05 #0.05
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use_astar: false
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# /* 阶段2修改：是否允许规划到未知区域，避免精度测试阶段出现不可控路径终点，初始值为 true */
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allow_unknown: 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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smoother_server:
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ros__parameters:
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use_sim_time: True
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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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recoveries_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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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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global_frame: odom
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robot_base_frame: base_footprint
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transform_timeout: 0.1
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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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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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velocity_smoother:
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ros__parameters:
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use_sim_time: True
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smoothing_frequency: 20.0
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scale_velocities: False
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feedback: "OPEN_LOOP"
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max_velocity: [0.26, 0.0, 0.5]
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min_velocity: [-0.26, 0.0, -0.5]
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max_accel: [2.5, 0.0, 3.2]
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max_decel: [-2.5, 0.0, -3.2]
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odom_topic: "odom"
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odom_duration: 0.1
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deadband_velocity: [0.0, 0.0, 0.0]
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velocity_timeout: 1.0
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