feat: add NAV2 Gazebo control module

2026-07-29 11:26:20 +09:00
commit f3e91c5bc9
20 changed files with 1422 additions and 0 deletions
@@ -0,0 +1,119 @@
+# File: mkmini/control_2d.yaml
+# Description: Control parameters for MK-Mini (2D LiDAR)
+
+controller_server:
+  ros__parameters:
+    use_sim_time: True
+    controller_frequency: 10.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.0
+    min_theta_velocity_threshold: 0.001
+    failure_tolerance: 1.0
+    progress_checker_plugin: "progress_checker"
+    goal_checker_plugins: ["general_goal_checker"]
+    controller_plugins: ["FollowPath"]
+
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.2
+      movement_time_allowance: 20.0
+    general_goal_checker:
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.5
+      yaw_goal_tolerance: 2.0
+      stateful: True
+    FollowPath:
+      plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
+      allow_reversing: false
+      use_dynamic_window: false
+      use_velocity_scaled_lookahead_dist: false
+      use_rotate_to_heading: false
+      use_collision_detection: true
+      use_regulated_linear_velocity_scaling: true
+      use_cost_regulated_linear_velocity_scaling: true
+
+      desired_linear_vel: 0.5
+      min_approach_linear_velocity: 0.3
+      lookahead_dist: 1.0
+      cost_scaling_dist: 0.6
+      cost_scaling_gain: 1.0
+      approach_velocity_scaling_dist: 1.5
+      regulated_linear_scaling_min_radius: 1.1
+      regulated_linear_scaling_min_speed: 0.3
+      max_allowed_time_to_collision_up_to_carrot: 2.0
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 10.0
+      publish_frequency: 5.0
+      global_frame: odom
+      robot_base_frame: base_link
+      use_sim_time: True
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      footprint: "[ [0.42, 0.305], [0.42, -0.305], [-0.42, -0.305], [-0.42, 0.305] ]"
+      plugins: ["obstacle_layer", "inflation_layer"]
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 4.0
+        inflation_radius: 0.5
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: 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: 4.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 3.0
+          obstacle_min_range: 0.0
+      always_send_full_costmap: True
+
+behavior_server:
+  ros__parameters:
+    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"
+    assisted_teleop:
+      plugin: "nav2_behaviors/AssistedTeleop"
+    global_frame: odom
+    robot_base_frame: base_link
+    transform_tolerance: 1.0
+    use_sim_time: true
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+velocity_smoother:
+  ros__parameters:
+    use_sim_time: True
+    smoothing_frequency: 10.0
+    scale_velocities: False
+    feedback: "OPEN_LOOP"
+    max_velocity: [0.5, 0.0, 0.5]
+    max_accel: [0.5, 0.0, 0.5]
+    max_decel: [-0.5, 0.0, -0.5]
+    odom_topic: "/odom_custom"
+    odom_duration: 0.1
+    deadband_velocity: [0.0, 0.0, 0.0]
+    velocity_timeout: 1.0