feat: support Yahboom in shared Nav2 control

2026-09-22 11:12:05 +09:00
parent 6c6a6df06c
commit d4bba02535
3 changed files with 225 additions and 1 deletions
@@ -0,0 +1,112 @@
+# Yahboom Pi5 differential-drive profile. Vehicle owns /scan, /odom and TF.
+controller_server:
+  ros__parameters:
+    use_sim_time: false
+    controller_frequency: 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.0
+    min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.5
+    progress_checker_plugin: progress_checker
+    goal_checker_plugins: [goal_checker]
+    controller_plugins: [FollowPath]
+    progress_checker:
+      plugin: nav2_controller::SimpleProgressChecker
+      required_movement_radius: 0.08
+      movement_time_allowance: 10.0
+    goal_checker:
+      plugin: nav2_controller::SimpleGoalChecker
+      xy_goal_tolerance: 0.15
+      yaw_goal_tolerance: 0.2
+      stateful: true
+    FollowPath:
+      plugin: dwb_core::DWBLocalPlanner
+      debug_trajectory_details: false
+      min_vel_x: -0.05
+      max_vel_x: 0.2
+      max_vel_theta: 1.0
+      min_speed_xy: 0.0
+      max_speed_xy: 0.2
+      acc_lim_x: 1.5
+      decel_lim_x: -1.5
+      acc_lim_theta: 3.2
+      decel_lim_theta: -3.2
+      vx_samples: 20
+      vtheta_samples: 20
+      sim_time: 1.7
+      transform_tolerance: 0.2
+      xy_goal_tolerance: 0.15
+      trans_stopped_velocity: 0.05
+      short_circuit_trajectory_evaluation: true
+      stateful: true
+      critics: [RotateToGoal, Oscillation, BaseObstacle, GoalAlign, PathAlign, PathDist, GoalDist]
+      BaseObstacle.scale: 0.02
+      PathAlign.scale: 24.0
+      PathAlign.forward_point_distance: 0.1
+      GoalAlign.scale: 18.0
+      GoalAlign.forward_point_distance: 0.1
+      PathDist.scale: 24.0
+      GoalDist.scale: 18.0
+      RotateToGoal.scale: 24.0
+      RotateToGoal.slowing_factor: 5.0
+      RotateToGoal.lookahead_time: -1.0
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      use_sim_time: false
+      global_frame: odom
+      robot_base_frame: base_footprint
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      footprint: "[[-0.165,-0.08],[-0.165,0.08],[0.125,0.08],[0.125,-0.08]]"
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      plugins: [obstacle_layer, inflation_layer]
+      obstacle_layer:
+        plugin: nav2_costmap_2d::ObstacleLayer
+        observation_sources: scan
+        scan:
+          topic: /scan
+          data_type: LaserScan
+          marking: true
+          clearing: true
+          max_obstacle_height: 1.0
+      inflation_layer:
+        plugin: nav2_costmap_2d::InflationLayer
+        inflation_radius: 0.30
+        cost_scaling_factor: 3.0
+
+behavior_server:
+  ros__parameters:
+    use_sim_time: false
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: [backup, drive_on_heading, wait]
+    backup:
+      plugin: nav2_behaviors/BackUp
+    drive_on_heading:
+      plugin: nav2_behaviors/DriveOnHeading
+    wait:
+      plugin: nav2_behaviors/Wait
+    global_frame: odom
+    robot_base_frame: base_footprint
+    transform_tolerance: 0.2
+
+velocity_smoother:
+  ros__parameters:
+    use_sim_time: false
+    smoothing_frequency: 20.0
+    scale_velocities: false
+    feedback: OPEN_LOOP
+    max_velocity: [0.2, 0.0, 1.0]
+    min_velocity: [-0.05, 0.0, -1.0]
+    max_accel: [1.5, 0.0, 3.2]
+    max_decel: [-1.5, 0.0, -3.2]
+    odom_topic: /odom
+    odom_duration: 0.1
+    deadband_velocity: [0.0, 0.0, 0.0]
+    velocity_timeout: 1.0
@@ -0,0 +1,112 @@
+# Yahboom Pi5 differential-drive profile. Vehicle owns /scan, /odom and TF.
+controller_server:
+  ros__parameters:
+    use_sim_time: true
+    controller_frequency: 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.0
+    min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.5
+    progress_checker_plugin: progress_checker
+    goal_checker_plugins: [goal_checker]
+    controller_plugins: [FollowPath]
+    progress_checker:
+      plugin: nav2_controller::SimpleProgressChecker
+      required_movement_radius: 0.08
+      movement_time_allowance: 10.0
+    goal_checker:
+      plugin: nav2_controller::SimpleGoalChecker
+      xy_goal_tolerance: 0.15
+      yaw_goal_tolerance: 0.2
+      stateful: true
+    FollowPath:
+      plugin: dwb_core::DWBLocalPlanner
+      debug_trajectory_details: false
+      min_vel_x: -0.05
+      max_vel_x: 0.2
+      max_vel_theta: 1.0
+      min_speed_xy: 0.0
+      max_speed_xy: 0.2
+      acc_lim_x: 1.5
+      decel_lim_x: -1.5
+      acc_lim_theta: 3.2
+      decel_lim_theta: -3.2
+      vx_samples: 20
+      vtheta_samples: 20
+      sim_time: 1.7
+      transform_tolerance: 0.2
+      xy_goal_tolerance: 0.15
+      trans_stopped_velocity: 0.05
+      short_circuit_trajectory_evaluation: true
+      stateful: true
+      critics: [RotateToGoal, Oscillation, BaseObstacle, GoalAlign, PathAlign, PathDist, GoalDist]
+      BaseObstacle.scale: 0.02
+      PathAlign.scale: 24.0
+      PathAlign.forward_point_distance: 0.1
+      GoalAlign.scale: 18.0
+      GoalAlign.forward_point_distance: 0.1
+      PathDist.scale: 24.0
+      GoalDist.scale: 18.0
+      RotateToGoal.scale: 24.0
+      RotateToGoal.slowing_factor: 5.0
+      RotateToGoal.lookahead_time: -1.0
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      use_sim_time: true
+      global_frame: odom
+      robot_base_frame: base_footprint
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      footprint: "[[-0.165,-0.08],[-0.165,0.08],[0.125,0.08],[0.125,-0.08]]"
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      plugins: [obstacle_layer, inflation_layer]
+      obstacle_layer:
+        plugin: nav2_costmap_2d::ObstacleLayer
+        observation_sources: scan
+        scan:
+          topic: /scan
+          data_type: LaserScan
+          marking: true
+          clearing: true
+          max_obstacle_height: 1.0
+      inflation_layer:
+        plugin: nav2_costmap_2d::InflationLayer
+        inflation_radius: 0.30
+        cost_scaling_factor: 3.0
+
+behavior_server:
+  ros__parameters:
+    use_sim_time: true
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: [backup, drive_on_heading, wait]
+    backup:
+      plugin: nav2_behaviors/BackUp
+    drive_on_heading:
+      plugin: nav2_behaviors/DriveOnHeading
+    wait:
+      plugin: nav2_behaviors/Wait
+    global_frame: odom
+    robot_base_frame: base_footprint
+    transform_tolerance: 0.2
+
+velocity_smoother:
+  ros__parameters:
+    use_sim_time: true
+    smoothing_frequency: 20.0
+    scale_velocities: false
+    feedback: OPEN_LOOP
+    max_velocity: [0.2, 0.0, 1.0]
+    min_velocity: [-0.05, 0.0, -1.0]
+    max_accel: [1.5, 0.0, 3.2]
+    max_decel: [-1.5, 0.0, -3.2]
+    odom_topic: /odom
+    odom_duration: 0.1
+    deadband_velocity: [0.0, 0.0, 0.0]
+    velocity_timeout: 1.0
@@ -15,7 +15,7 @@ from nav2_common.launch import RewrittenYaml
 ARGUMENTS = [
    DeclareLaunchArgument('sim_mode', default_value='true'),
    DeclareLaunchArgument('log_level', default_value='info'),
-    DeclareLaunchArgument('robot', default_value='turtlebot3', choices=['mkmini', 'fr09', 'turtlebot3']),
+    DeclareLaunchArgument('robot', default_value='turtlebot3', choices=['mkmini', 'fr09', 'turtlebot3', 'yahboom']),
    DeclareLaunchArgument('level', default_value='2d'),
 ]