templates/lms-nav2-gazebo-control
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fix(nav2): tune mkmini simulation control

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This commit is contained in:
chyoo
2026-08-10 09:02:16 +09:00
parent 7c860f0870
commit 6bf2f42239
1 changed files with 11 additions and 6 deletions
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src/control_pkg/config/control_2d_sim_mkmini.yaml
+11 -6
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@@ -24,6 +24,8 @@ controller_server:
stateful: True stateful: True
FollowPath: FollowPath:
plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
# Reverse remains available to Nav2 recovery behaviours, but the normal
# path follower must not alternate direction along a goal path.
allow_reversing: false allow_reversing: false
use_dynamic_window: false use_dynamic_window: false
use_velocity_scaled_lookahead_dist: false use_velocity_scaled_lookahead_dist: false
@@ -32,13 +34,15 @@ controller_server:
use_regulated_linear_velocity_scaling: true use_regulated_linear_velocity_scaling: true
use_cost_regulated_linear_velocity_scaling: true use_cost_regulated_linear_velocity_scaling: true
desired_linear_vel: 0.5 # A 1 m lookahead at 0.5 m/s cuts across the 1.35 m-radius vehicle
min_approach_linear_velocity: 0.3 # paths. Keep the simulated tricycle close to the planned arc.
lookahead_dist: 1.0 desired_linear_vel: 0.3
min_approach_linear_velocity: 0.15
lookahead_dist: 0.6
cost_scaling_dist: 0.6 cost_scaling_dist: 0.6
cost_scaling_gain: 1.0 cost_scaling_gain: 1.0
approach_velocity_scaling_dist: 1.5 approach_velocity_scaling_dist: 1.0
regulated_linear_scaling_min_radius: 1.1 regulated_linear_scaling_min_radius: 1.35
regulated_linear_scaling_min_speed: 0.3 regulated_linear_scaling_min_speed: 0.3
max_allowed_time_to_collision_up_to_carrot: 2.0 max_allowed_time_to_collision_up_to_carrot: 2.0
@@ -54,7 +58,8 @@ local_costmap:
width: 3 width: 3
height: 3 height: 3
resolution: 0.05 resolution: 0.05
footprint: "[ [0.42, 0.305], [0.42, -0.305], [-0.42, -0.305], [-0.42, 0.305] ]" # Match the MK-mini Gazebo collision bounds used by the global planner.
footprint: "[ [0.44, 0.42], [0.44, -0.42], [-0.44, -0.42], [-0.44, 0.42] ]"
plugins: ["obstacle_layer", "inflation_layer"] plugins: ["obstacle_layer", "inflation_layer"]
inflation_layer: inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer" plugin: "nav2_costmap_2d::InflationLayer"