templates/lms-nav2-gazebo-control
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Tune MKMini reverse path control

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This commit is contained in:
chyoo
2026-08-19 09:53:09 +09:00
parent cf819c8356
commit 6c6a6df06c
1 changed files with 11 additions and 10 deletions
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src/control_pkg/config/control_2d_sim_mkmini.yaml
+11 -10
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@@ -4,7 +4,9 @@
controller_server: controller_server:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: True
controller_frequency: 10.0 # Reeds-Shepp paths switch direction at cusps. A faster control loop keeps
# the simulated tricycle from overshooting those short reverse segments.
controller_frequency: 20.0
min_x_velocity_threshold: 0.001 min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.0 min_y_velocity_threshold: 0.0
min_theta_velocity_threshold: 0.001 min_theta_velocity_threshold: 0.001
@@ -24,9 +26,8 @@ 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 # Required to track reverse segments generated by the Reeds-Shepp planner.
# path follower must not alternate direction along a goal path. allow_reversing: true
allow_reversing: false
use_dynamic_window: false use_dynamic_window: false
use_velocity_scaled_lookahead_dist: false use_velocity_scaled_lookahead_dist: false
use_rotate_to_heading: false use_rotate_to_heading: false
@@ -34,16 +35,16 @@ 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
# A 1 m lookahead at 0.5 m/s cuts across the 1.35 m-radius vehicle # Keep the carrot before the next direction-change cusp. A long
# paths. Keep the simulated tricycle close to the planned arc. # lookahead makes a car-like controller cut across short reverse arcs.
desired_linear_vel: 0.4 desired_linear_vel: 0.4
min_approach_linear_velocity: 0.15 min_approach_linear_velocity: 0.08
lookahead_dist: 0.6 lookahead_dist: 0.35
cost_scaling_dist: 0.6 cost_scaling_dist: 0.6
cost_scaling_gain: 1.0 cost_scaling_gain: 1.0
approach_velocity_scaling_dist: 1.0 approach_velocity_scaling_dist: 1.0
regulated_linear_scaling_min_radius: 1.35 regulated_linear_scaling_min_radius: 1.35
regulated_linear_scaling_min_speed: 0.3 regulated_linear_scaling_min_speed: 0.1
max_allowed_time_to_collision_up_to_carrot: 2.0 max_allowed_time_to_collision_up_to_carrot: 2.0
local_costmap: local_costmap:
@@ -112,7 +113,7 @@ behavior_server:
velocity_smoother: velocity_smoother:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: True
smoothing_frequency: 10.0 smoothing_frequency: 20.0
scale_velocities: False scale_velocities: False
feedback: "OPEN_LOOP" feedback: "OPEN_LOOP"
max_velocity: [0.5, 0.0, 0.5] max_velocity: [0.5, 0.0, 0.5]