navparams.yaml

amcl:
  ros__parameters:
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "nav2_amcl::DifferentialMotionModel"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 0.4
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan

bt_navigator:
  ros__parameters:
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    bt_loop_duration: 20
    default_server_timeout: 20
    wait_for_service_timeout: 1000
    action_server_result_timeout: 900.0
    navigators: ["navigate_to_pose", "navigate_through_poses"]
    navigate_to_pose:
      plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
    navigate_through_poses:
      plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
    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_are_error_codes_active_condition_bt_node
    - nav2_would_a_controller_recovery_help_condition_bt_node
    - nav2_would_a_planner_recovery_help_condition_bt_node
    - nav2_would_a_smoother_recovery_help_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

    
    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.

    # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
    # Built-in plugins are added automatically
    # plugin_lib_names: []

    error_code_names:
      - compute_path_error_code
      - follow_path_error_code

controller_server:
  ros__parameters:
    odom_topic: "odom"

    controller_frequency: 12.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    failure_tolerance: 0.4
    progress_checker_plugins: ["progress_checker"]
    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
    controller_plugins: ["FollowPath"]
    use_realtime_priority: true

    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.05 #nekem 0.1
      movement_time_allowance: 15.0
    # Goal checker parameters
    #precise_goal_checker:
    #  plugin: "nav2_controller::SimpleGoalChecker"
    #  xy_goal_tolerance: 0.25
    #  yaw_goal_tolerance: 0.25
    #  stateful: True
    general_goal_checker:
      stateful: True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.55
      yaw_goal_tolerance: 0.55
    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 0.35
      max_vel_y: 0.0
      max_vel_theta: 0.5
      min_speed_xy: -0.35
      max_speed_xy: 0.35
      min_speed_theta: -0.5
      # Add high threshold velocity for turtlebot 3 issue.
      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
      acc_lim_x: 3.5
      acc_lim_y: 0.0
      acc_lim_theta: 4.2
      decel_lim_x: -4.5
      decel_lim_y: 0.0
      decel_lim_theta: -4.2
      vx_samples: 100
      vy_samples: 0
      vtheta_samples: 2
      sim_time: 3.7
      linear_granularity: 0.05
      angular_granularity: 0.025
      transform_tolerance: 0.4
      xy_goal_tolerance: 0.55
      trans_stopped_velocity: 0.55
      short_circuit_trajectory_evaluation: True
      stateful: True
      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
      BaseObstacle.scale: 0.8
      PathAlign.scale: 32.0
      PathAlign.forward_point_distance: 0.1
      GoalAlign.scale: 24.0
      GoalAlign.forward_point_distance: 0.1    
      PathDist.scale: 32.0
      GoalDist.scale: 24.0
      RotateToGoal.scale: 200.0 #32.0
      RotateToGoal.slowing_factor: 120.0 #10.0
      RotateToGoal.lookahead_time: -1.0

local_costmap:
  local_costmap:
    ros__parameters:
 
      update_frequency: 10.0
      publish_frequency: 4.0
      global_frame: odom
      robot_base_frame: base_link
      rolling_window: true
      width: 25
      height: 25
      resolution: 0.05
      robot_radius: 0.22
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 15.0
        inflation_radius: 0.5 #0.7 a nav2ben
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: 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: 2.5
          raytrace_min_range: -0.2
          obstacle_max_range: 3.0
          obstacle_min_range: -0.1
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      always_send_full_costmap: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 1.0
      global_frame: map

      robot_base_frame: base_link
      robot_radius: 0.22
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      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: 2.5
          raytrace_min_range: -0.2
          obstacle_max_range: 3.0
          obstacle_min_range: -0.1
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.5
      always_send_full_costmap: True

# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
# map_server:
#   ros__parameters:
#     yaml_filename: ""

map_saver:
  ros__parameters:
    save_map_timeout: 5.0
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: True

planner_server:
  ros__parameters:
    expected_planner_frequency: 15.0
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.35
      use_astar: false
      allow_unknown: true

smoother_server:
  ros__parameters:
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: True

behavior_server:
  ros__parameters:
    local_costmap_topic: local_costmap/costmap_raw
    global_costmap_topic: global_costmap/costmap_raw
    local_footprint_topic: local_costmap/published_footprint
    global_footprint_topic: global_costmap/published_footprint
    cycle_frequency: 15.0
    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"
    backup:
      plugin: "nav2_behaviors/BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors/DriveOnHeading"
    wait:
      plugin: "nav2_behaviors/Wait"
    assisted_teleop:
      plugin: "nav2_behaviors/AssistedTeleop"
    local_frame: odom
    global_frame: map
    robot_base_frame: base_link
    transform_tolerance: 0.4
    simulate_ahead_time: 2.0
    max_rotational_vel: 0.4
    min_rotational_vel: 0.1
    rotational_acc_lim: 3.2

waypoint_follower:
  ros__parameters:
    loop_rate: 20
    stop_on_failure: false
    action_server_result_timeout: 900.0
    waypoint_task_executor_plugin: "wait_at_waypoint"
    wait_at_waypoint:
      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
      enabled: True
      waypoint_pause_duration: 100

velocity_smoother:
  ros__parameters:
    smoothing_frequency: 10.0
    scale_velocities: False
    feedback: "OPEN_LOOP"
    max_velocity: [0.35, 0.0, 0.5]
    min_velocity: [-0.35, 0.0, -0.5] 
    max_accel: [3.5, 0.0, 4.2]
    max_decel: [-4.5, 0.0, -4.2]
    odom_topic: "odom"
    odom_duration: 0.1
    deadband_velocity: [0.03, 0.0, 0.001]
    velocity_timeout: 1.0

collision_monitor:
  ros__parameters:
    base_frame_id: "base_footprint"
    odom_frame_id: "odom"
    cmd_vel_in_topic: "cmd_vel_smoothed"
    cmd_vel_out_topic: "cmd_vel"
    state_topic: "collision_monitor_state"
    transform_tolerance: 0.4
    source_timeout: 1.0
    base_shift_correction: True
    stop_pub_timeout: 2.0
    # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types,
    # and robot footprint for "approach" action type.
    polygons: ["FootprintApproach"]
    FootprintApproach:
      type: "polygon"
      action_type: "approach"
      footprint_topic: "/local_costmap/published_footprint"
      time_before_collision: 1.2
      simulation_time_step: 0.1
      min_points: 6
      visualize: False
      enabled: True
    observation_sources: ["scan"]
    scan:
      type: "scan"
      topic: "scan"
      min_height: 0.15
      max_height: 2.0
      enabled: True