126 lines
4.0 KiB
YAML
126 lines
4.0 KiB
YAML
# File: mkmini/control_2d.yaml
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# Description: Control parameters for MK-Mini (2D LiDAR)
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controller_server:
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ros__parameters:
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use_sim_time: True
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# Reeds-Shepp paths switch direction at cusps. A faster control loop keeps
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# the simulated tricycle from overshooting those short reverse segments.
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controller_frequency: 20.0
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min_x_velocity_threshold: 0.001
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min_y_velocity_threshold: 0.0
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min_theta_velocity_threshold: 0.001
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failure_tolerance: 1.0
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progress_checker_plugin: "progress_checker"
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goal_checker_plugins: ["general_goal_checker"]
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controller_plugins: ["FollowPath"]
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progress_checker:
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plugin: "nav2_controller::SimpleProgressChecker"
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required_movement_radius: 0.2
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movement_time_allowance: 20.0
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general_goal_checker:
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plugin: "nav2_controller::SimpleGoalChecker"
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xy_goal_tolerance: 0.5
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yaw_goal_tolerance: 2.0
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stateful: True
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FollowPath:
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plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
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# Required to track reverse segments generated by the Reeds-Shepp planner.
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allow_reversing: true
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use_dynamic_window: false
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use_velocity_scaled_lookahead_dist: false
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use_rotate_to_heading: false
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use_collision_detection: true
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use_regulated_linear_velocity_scaling: true
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use_cost_regulated_linear_velocity_scaling: true
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# Keep the carrot before the next direction-change cusp. A long
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# lookahead makes a car-like controller cut across short reverse arcs.
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desired_linear_vel: 0.4
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min_approach_linear_velocity: 0.08
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lookahead_dist: 0.35
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cost_scaling_dist: 0.6
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cost_scaling_gain: 1.0
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approach_velocity_scaling_dist: 1.0
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regulated_linear_scaling_min_radius: 1.35
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regulated_linear_scaling_min_speed: 0.1
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max_allowed_time_to_collision_up_to_carrot: 2.0
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local_costmap:
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local_costmap:
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ros__parameters:
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update_frequency: 10.0
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publish_frequency: 5.0
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global_frame: odom
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robot_base_frame: base_link
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use_sim_time: True
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rolling_window: true
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width: 3
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height: 3
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resolution: 0.05
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# Match the MK-mini Gazebo collision bounds used by the global planner.
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footprint: "[ [0.44, 0.42], [0.44, -0.42], [-0.44, -0.42], [-0.44, 0.42] ]"
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plugins: ["obstacle_layer", "inflation_layer"]
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 4.0
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inflation_radius: 0.5
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obstacle_layer:
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plugin: "nav2_costmap_2d::ObstacleLayer"
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enabled: True
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origin_z: 0.0
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z_resolution: 0.05
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z_voxels: 16
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max_obstacle_height: 2.0
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mark_threshold: 0
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: True
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marking: True
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data_type: "LaserScan"
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raytrace_max_range: 4.0
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raytrace_min_range: 0.0
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obstacle_max_range: 3.0
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obstacle_min_range: 0.0
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always_send_full_costmap: True
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behavior_server:
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ros__parameters:
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costmap_topic: local_costmap/costmap_raw
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footprint_topic: local_costmap/published_footprint
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cycle_frequency: 10.0
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behavior_plugins: ["backup", "drive_on_heading", "wait"]
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backup:
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plugin: "nav2_behaviors/BackUp"
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drive_on_heading:
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plugin: "nav2_behaviors/DriveOnHeading"
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wait:
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plugin: "nav2_behaviors/Wait"
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assisted_teleop:
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plugin: "nav2_behaviors/AssistedTeleop"
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global_frame: odom
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robot_base_frame: base_link
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transform_tolerance: 1.0
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use_sim_time: true
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simulate_ahead_time: 2.0
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max_rotational_vel: 1.0
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min_rotational_vel: 0.4
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rotational_acc_lim: 3.2
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velocity_smoother:
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ros__parameters:
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use_sim_time: True
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smoothing_frequency: 20.0
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scale_velocities: False
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feedback: "OPEN_LOOP"
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max_velocity: [0.5, 0.0, 0.5]
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max_accel: [0.5, 0.0, 0.5]
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max_decel: [-0.5, 0.0, -0.5]
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odom_topic: "/odom_custom"
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odom_duration: 0.1
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deadband_velocity: [0.0, 0.0, 0.0]
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velocity_timeout: 1.0
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