Nav2 Vel smoother

configuration/index.rst

@@ -28,3 +28,4 @@ the best navigation performance.
    packages/configuring-regulated-pp.rst
    packages/configuring-rotation-shim-controller.rst
    packages/configuring-constrained-smoother.rst
+   packages/configuring-velocity-smoother.rst

configuration/packages/configuring-velocity-smoother.rst

@@ -0,0 +1,155 @@
+.. _configuring_velocity_smoother:
+
+Velocity Smoother
+#################
+
+Source code on Github_.
+
+.. _Github: https://github.com/ros-planning/navigation2/tree/main/nav2_velocity_smoother
+
+The ``nav2_velocity_smoother`` is a package containing a lifecycle-component node for smoothing velocities sent by Nav2 to robot controllers.
+The aim of this package is to implement velocity, acceleration, and deadband smoothing from Nav2 to reduce wear-and-tear on robot motors and hardware controllers by smoothing out the accelerations/jerky movements that might be present with some local trajectory planners' control efforts.
+
+See the package's README for more information.
+
+Velocity Smoother Parameters
+****************************
+
+:smoothing_frequency:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  double         20.0
+  ============== ===========================
+
+  Description
+    Frequency (Hz) to use the last received velocity command to smooth by velocity, acceleration, and deadband constraints. If set approximately to the rate of your local trajectory planner, it should smooth by acceleration constraints velocity commands. If set much higher, it will interpolate and provide a smooth set of commands to the hardware controller.
+
+:scale_velocities:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  bool           false
+  ============== ===========================
+
+  Description
+    Whether or not to adjust other components of velocity proportionally to a component's required changes due to acceleration limits. This will try to adjust all components to follow the same direction, but still enforces acceleration limits to guarantee compliance, even if it means deviating off commanded trajectory slightly.
+
+:feedback:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  string         "OPEN_LOOP"
+  ============== ===========================
+
+  Description
+    Type of feedback to use for the current state of the robot's velocity. In ``OPEN_LOOP``, it will use the last commanded velocity as the next iteration's current velocity. When acceleration limits are set appropriately, this is a good assumption. In ``CLOSED_LOOP``, it will use the odometry from the ``odom`` topic to estimate the robot's current speed. In closed loop mode, it is important that the odometry is high rate and low latency, relative to the smoothing frequency.
+
+:max_velocity:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  vector<double> [0.5, 0.0, 2.5]
+  ============== ===========================
+
+  Description
+    Maximum velocities (m/s) in ``[x, y, theta]`` axes.
+
+:min_velocity:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  vector<double> [-0.5, 0.0, -2.5]
+  ============== ===========================
+
+  Description
+    Minimum velocities (m/s) in ``[x, y, theta]`` axes. This is **signed** and thus must be **negative** to reverse. Note: rotational velocities negative direction is a right-hand turn, so this should always be negative regardless of reversing preference.
+
+:deadband_velocity:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  vector<double> [0.0, 0.0, 0.0]
+  ============== ===========================
+
+  Description
+    Minimum velocities (m/s) to send to the robot hardware controllers, to prevent small commands from damaging hardware controllers if that speed cannot be achieved due to stall torque.
+
+:velocity_timeout:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  double         1.0
+  ============== ===========================
+
+  Description
+    Timeout (s) after which the velocity smoother will send a zero-ed out ``Twist`` command and stop publishing.
+
+:max_accel:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  vector<double> [2.5, 0.0, 3.2]
+  ============== ===========================
+
+  Description
+    Maximum acceleration to apply to each axis ``[x, y, theta]``.
+
+:max_decel:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  vector<double> [-2.5, 0.0, -3.2]
+  ============== ===========================
+
+  Description
+    Minimum acceleration to apply to each axis ``[x, y, theta]``. This is **signed** and thus these should generally all be **negative**.
+
+:odom_topic:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  string         "odom"
+  ============== ===========================
+
+  Description
+    Topic to find robot odometry, if in ``CLOSED_LOOP`` operational mode.
+
+:odom_duration:
+
+  ============== ===========================
+  Type           Default                    
+  -------------- ---------------------------
+  double         0.1
+  ============== ===========================
+
+  Description
+    Time (s) to buffer odometry commands to estimate the robot speed, if in ``CLOSED_LOOP`` operational mode.
+
+Example
+*******
+.. code-block:: yaml
+
+  velocity_smoother:
+    ros__parameters:
+      smoothing_frequency: 20.0
+      scale_velocities: false
+      feedback: "OPEN_LOOP"
+      max_velocity: [0.5, 0.0, 2.5]
+      min_velocity: [-0.5, 0.0, -2.5]
+      deadband_velocity: [0.0, 0.0, 0.0]
+      velocity_timeout: 1.0
+      max_accel: [2.5, 0.0, 3.2]
+      max_decel: [-2.5, 0.0, -3.2]
+      odom_topic: "odom"
+      odom_duration: 0.1

migration/Galactic.rst

@@ -324,6 +324,10 @@ Respawn Support in Launch and Lifecycle Manager
 
 That PR also enables the lifecycle manager to check if a system goes down due to a crash. If so, it allows the manager to check if the server comes back online within a given timeout period. If it does, it will automatically retransition the system back up to active to continue on its task automatically.
 
+New Nav2 Velocity Smoother
+**************************
+
+`PR 2964 <https://github.com/ros-planning/navigation2/pull/2964>`_ introduces the ``nav2_velocity_smoother`` for smoothing velocity commands from Nav2 to a robot controller by velocity, acceleration, and deadband constraints. See :ref:`configuring_velocity_smoother` for more details. It is not included in the default bringup batteries included from ``nav2_bringup``.
 
 Goal Checker API Changed
 ************************