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