file for testing nav2 hybrid planner

nav2_bringup/maps/willow-2010-02-18-0.10.yaml

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+image: willow-2010-02-18-0.10.pgm
+resolution: 0.100000
+origin: [0.000000, 0.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196

nav2_bringup/params/nav2_params_planner.yaml

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+amcl:
+  ros__parameters:
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: "base_footprint"
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: "map"
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 100.0
+    laser_min_range: -1.0
+    laser_model_type: "likelihood_field"
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: "odom"
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    robot_model_type: "nav2_amcl::DifferentialMotionModel"
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 1.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+    scan_topic: scan
+
+bt_navigator:
+  ros__parameters:
+    global_frame: map
+    robot_base_frame: base_link
+    odom_topic: /odom
+    bt_loop_duration: 10
+    default_server_timeout: 20
+    navigators: ["navigate_to_pose", "navigate_through_poses"]
+    navigate_to_pose:
+      plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
+    navigate_through_poses:
+      plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
+    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
+    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
+    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
+    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
+    plugin_lib_names:
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_assisted_teleop_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_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_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_are_error_codes_active_condition_bt_node
+      - nav2_would_a_controller_recovery_help_condition_bt_node
+      - nav2_would_a_planner_recovery_help_condition_bt_node
+      - nav2_would_a_smoother_recovery_help_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_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_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_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_goal_updated_controller_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_assisted_teleop_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+    error_code_names:
+      - compute_path_error_code
+      - follow_path_error_code
+
+controller_server:
+  ros__parameters:
+    controller_frequency: 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.3
+    progress_checker_plugin: "progress_checker"
+    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
+    controller_plugins: ["FollowPath"]
+
+    # Progress checker parameters
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    # Goal checker parameters
+    #precise_goal_checker:
+    #  plugin: "nav2_controller::SimpleGoalChecker"
+    #  xy_goal_tolerance: 0.25
+    #  yaw_goal_tolerance: 0.25
+    #  stateful: True
+    general_goal_checker:
+      stateful: True
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+    # 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
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      global_frame: odom
+      robot_base_frame: base_link
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      robot_radius: 0.22
+      plugins: ["voxel_layer", "inflation_layer"]
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      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
+        mark_threshold: 0
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      always_send_full_costmap: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_link
+      robot_radius: 0.22
+      resolution: 0.05
+      track_unknown_space: true
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      always_send_full_costmap: True
+
+# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
+# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
+# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
+# map_server:
+#   ros__parameters:
+#     yaml_filename: ""
+
+map_saver:
+  ros__parameters:
+    save_map_timeout: 5.0
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65
+    map_subscribe_transient_local: True
+
+planner_server:
+  ros__parameters:
+    expected_planner_frequency: 20.0
+    planner_plugins: ["GridBased"]
+    GridBased:
+      plugin: "nav2_smac_planner/SmacPlannerHybrid"
+      downsample_costmap: false           # whether or not to downsample the map
+      downsampling_factor: 1              # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
+      tolerance: 0.25                     # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
+      allow_unknown: true                 # allow traveling in unknown space
+      max_iterations: 1000000             # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
+      max_on_approach_iterations: 1000    # Maximum number of iterations after within tolerances to continue to try to find exact solution
+      max_planning_time: 5.0              # max time in s for planner to plan, smooth
+      motion_model_for_search: "DUBIN"    # Hybrid-A* Dubin, Redds-Shepp
+      angle_quantization_bins: 64         # Number of angle bins for search
+      analytic_expansion_ratio: 3.5       # The ratio to attempt analytic expansions during search for final approach.
+      analytic_expansion_max_length: 3.0  # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
+      minimum_turning_radius: 0.50        # minimum turning radius in m of path / vehicle
+      reverse_penalty: 2.0                # Penalty to apply if motion is reversing, must be => 1
+      change_penalty: 0.0                 # Penalty to apply if motion is changing directions (L to R), must be >= 0
+      non_straight_penalty: 1.2           # Penalty to apply if motion is non-straight, must be => 1
+      cost_penalty: 2.0                   # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
+      retrospective_penalty: 0.015
+      lookup_table_size: 20.0             # Size of the dubin/reeds-sheep distance window to cache, in meters.
+      cache_obstacle_heuristic: false     # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
+      smooth_path: True                   # If true, does a simple and quick smoothing post-processing to the path
+
+
+smoother_server:
+  ros__parameters:
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: True
+
+behavior_server:
+  ros__parameters:
+    local_costmap_topic: local_costmap/costmap_raw
+    global_costmap_topic: global_costmap/costmap_raw
+    local_footprint_topic: local_costmap/published_footprint
+    global_footprint_topic: global_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
+    spin:
+      plugin: "nav2_behaviors/Spin"
+    backup:
+      plugin: "nav2_behaviors/BackUp"
+    drive_on_heading:
+      plugin: "nav2_behaviors/DriveOnHeading"
+    wait:
+      plugin: "nav2_behaviors/Wait"
+    assisted_teleop:
+      plugin: "nav2_behaviors/AssistedTeleop"
+    local_frame: odom
+    global_flame: map
+    robot_base_frame: base_link
+    transform_tolerance: 0.1
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200
+
+velocity_smoother:
+  ros__parameters:
+    smoothing_frequency: 20.0
+    scale_velocities: False
+    feedback: "OPEN_LOOP"
+    max_velocity: [0.26, 0.0, 1.0]
+    min_velocity: [-0.26, 0.0, -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
+    deadband_velocity: [0.0, 0.0, 0.0]
+    velocity_timeout: 1.0