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@@ -68,11 +68,11 @@ controller_server:
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goal_checker:
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plugin: "nav2_controller::SimpleGoalChecker"
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xy_goal_tolerance: 1.0
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- yaw_goal_tolerance: 0.1
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+ yaw_goal_tolerance: 0.2
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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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- desired_linear_vel: 0.7
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+ desired_linear_vel: 0.8
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lookahead_dist: 1.0
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min_lookahead_dist: 0.3
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max_lookahead_dist: 2.0
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@@ -80,17 +80,17 @@ controller_server:
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rotate_to_heading_angular_vel: 0.2
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transform_tolerance: 0.01
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use_velocity_scaled_lookahead_dist: false
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- min_approach_linear_velocity: 0.05
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+ min_approach_linear_velocity: 0.2
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use_approach_linear_velocity_scaling: true
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approach_velocity_scaling_dist: 3.5
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max_allowed_time_to_collision_up_to_carrot: 1.0
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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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- regulated_linear_scaling_min_radius: 5.6
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- regulated_linear_scaling_min_speed: 0.20
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+ regulated_linear_scaling_min_radius: 4.2
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+ regulated_linear_scaling_min_speed: 0.50
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use_rotate_to_heading: false
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rotate_to_heading_min_angle: 0.785
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- max_angular_accel: 3.2
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+ max_angular_accel: 1.2
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max_robot_pose_search_dist: 10.0
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use_interpolation: false
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cost_scaling_dist: 0.3
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@@ -212,7 +212,7 @@ planner_server:
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angle_quantization_bins: 64 # For Hybrid nodes: Number of angle bins for search, must be 1 for 2D node (no angle search)
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analytic_expansion_ratio: 3.5 # For Hybrid/Lattice nodes: The ratio to attempt analytic expansions during search for final approach.
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analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting (in meters). This should be scaled with minimum turning radius and be no less than 4-5x the minimum radius
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- minimum_turning_radius: 4.3 # For Hybrid/Lattice nodes: minimum turning radius in m of path / vehicle
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+ minimum_turning_radius: 3.6 # For Hybrid/Lattice nodes: minimum turning radius in m of path / vehicle
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reverse_penalty: 2.1 # For Reeds-Shepp model: penalty to apply if motion is reversing, must be => 1
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change_penalty: 0.0 # For Hybrid nodes: penalty to apply if motion is changing directions, must be >= 0
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non_straight_penalty: 2.30 # For Hybrid nodes: penalty to apply if motion is non-straight, must be => 1
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@@ -277,3 +277,17 @@ waypoint_follower:
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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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+
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+velocity_smoother:
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+ ros__parameters:
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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: [1.0, 0.0, 2.5]
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+ min_velocity: [-0.5, 0.0, -2.5]
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+ deadband_velocity: [0.0, 0.0, 0.0]
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+ velocity_timeout: 1.0
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+ max_accel: [2.5, 0.0, 3.2]
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+ max_decel: [-2.5, 0.0, -3.2]
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+ odom_topic: "odom"
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+ odom_duration: 0.1
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Piotr Jaroszek