feat: add lms-nav2-gazebo-planning module

2026-07-28 10:35:43 +09:00
commit 5bd6aac99c
24 changed files with 1565 additions and 0 deletions
@@ -0,0 +1,153 @@
+# File: mkmini/planning_2d.yaml
+# Description: Planning parameters for MK-Mini (2D LiDAR)
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_link
+    odom_topic: /odom_custom
+    bt_loop_duration: 20
+    default_server_timeout: 2000
+    wait_for_service_timeout: 4000
+    default_nav_to_pose_bt_xml: ""
+    default_nav_through_poses_bt_xml: ""
+    plugin_lib_names:
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_assisted_teleop_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_goal_updated_controller_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_assisted_teleop_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+      - nav2_is_battery_charging_condition_bt_node
+
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator_navigate_to_pose_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 2.0
+      publish_frequency: 2.0
+      global_frame: map
+      robot_base_frame: base_link
+      use_sim_time: True
+      footprint: "[ [0.42, 0.305], [0.42, -0.305], [-0.42, -0.305], [-0.42, 0.305] ]"
+      resolution: 0.05
+      track_unknown_space: true
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 8.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 6.0
+          obstacle_min_range: 0.0
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 2.0
+        inflation_radius: 1.5
+      always_send_full_costmap: True
+
+planner_server:
+  ros__parameters:
+    expected_planner_frequency: 2.0
+    use_sim_time: True
+    planner_plugins: ["GridBased"]
+    GridBased:
+      plugin: "nav2_smac_planner/SmacPlannerHybrid"
+      tolerance: 0.5
+      allow_unknown: true
+      downsample_costmap: true
+      downsampling_factor: 2
+      max_iterations: 3000000
+      max_on_approach_iterations: 5000
+      max_planning_time: 10.0
+      motion_model_for_search: "DUBIN"
+      angle_quantization_bins: 144
+      analytic_expansion_ratio: 3.5
+      analytic_expansion_max_length: 5.0
+      minimum_turning_radius: 1.1
+      change_penalty: 0.0
+      non_straight_penalty: 1.5
+      cost_penalty: 5.0
+      retrospective_penalty: 0.1
+      lookup_table_size: 20.0
+      cache_obstacle_heuristic: true
+      smooth_path: true
+
+smoother_server:
+  ros__parameters:
+    use_sim_time: True
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: True
+
+waypoint_follower:
+  ros__parameters:
+    use_sim_time: True
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200