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modify nav2_params.yaml for cloi
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zikprid0 committed Aug 29, 2022
1 parent ec49c27 commit 9e0d8a5
Showing 1 changed file with 38 additions and 32 deletions.
70 changes: 38 additions & 32 deletions nav2_bringup/params/nav2_params.yaml
Original file line number Diff line number Diff line change
@@ -1,10 +1,16 @@
amcl:
ros__parameters:
use_sim_time: True
alpha1: 0.2
set_initial_pose: True
initial_pose:
x: 6.3
y: 28.6
z: 0.0
yaw: -1.57
alpha1: 0.1
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha3: 0.3
alpha4: 0.1
alpha5: 0.2
base_frame_id: "base_footprint"
beam_skip_distance: 0.5
Expand All @@ -14,15 +20,15 @@ amcl:
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_max_range: 21.0
laser_min_range: 0.30
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
max_particles: 200
min_particles: 400
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
pf_err: 0.01
pf_z: 0.90
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
Expand All @@ -31,11 +37,11 @@ amcl:
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
update_min_a: 0.08725
update_min_d: 0.10
z_hit: 0.9
z_max: 0.05
z_rand: 0.5
z_rand: 0.2
z_short: 0.05
scan_topic: scan

Expand Down Expand Up @@ -139,11 +145,11 @@ controller_server:
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 0.26
max_vel_x: 1.2
max_vel_y: 0.0
max_vel_theta: 1.0
min_speed_xy: 0.0
max_speed_xy: 0.26
max_speed_xy: 1.2
min_speed_theta: 0.0
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
Expand Down Expand Up @@ -185,15 +191,15 @@ local_costmap:
robot_base_frame: base_link
use_sim_time: True
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.22
width: 4
height: 4
resolution: 0.1
robot_radius: 0.34
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
cost_scaling_factor: 6.5
inflation_radius: 1.75
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
Expand All @@ -206,13 +212,13 @@ local_costmap:
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
max_obstacle_height: 5.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_max_range: 15.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_max_range: 5.0
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
Expand All @@ -225,10 +231,10 @@ global_costmap:
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
robot_base_frame: base_footprint
use_sim_time: True
robot_radius: 0.22
resolution: 0.05
robot_radius: 0.34
resolution: 0.1
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
Expand All @@ -237,13 +243,13 @@ global_costmap:
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
max_obstacle_height: 5.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_max_range: 15.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_max_range: 5.0
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
Expand Down Expand Up @@ -334,8 +340,8 @@ velocity_smoother:
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.26, 0.0, 1.0]
min_velocity: [-0.26, 0.0, -1.0]
max_velocity: [1.2, 0.0, 1.0]
min_velocity: [-1.2, 0.0, -1.0]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2]
odom_topic: "odom"
Expand Down

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