amcl:
  ros__parameters:
    use_sim_time: false
    # --- Humble requires a plugin name here ---
    motion_model_type: "nav2_amcl::DifferentialMotionModel"
    # alpha / noise params
    alpha1: 0.005
    alpha2: 0.005
    alpha3: 0.005
    alpha4: 0.005
    alpha5: 0.005
    base_frame_id: "base_link"     # was "base_footprint" in some setups
    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: 6.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 3000
    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
    save_pose_rate: 0.5
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.9
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    sigma_hit: 0.05
    scan_topic: /scan
    map_topic: map
    set_initial_pose: true
    always_reset_initial_pose: false
    first_map_only: false
    initial_pose:
      x: 0.0
      y: 0.0
      z: 0.0
      yaw: 0.0

amcl_map_client:
  ros__parameters:
    use_sim_time: false

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: false

bt_navigator:
  ros__parameters:
    use_sim_time: false
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /lidar_odom
    default_bt_xml_filename: navigate_w_replanning_time.xml
    plugin_lib_names:
      - nav2_compute_path_to_pose_action_bt_node
      - nav2_compute_path_through_poses_action_bt_node
      - nav2_follow_path_action_bt_node
      - nav2_back_up_action_bt_node
      - nav2_spin_action_bt_node
      - nav2_wait_action_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_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_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_distance_traveled_condition_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

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: false

controller_server:
  ros__parameters:
    use_sim_time: false
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.01
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.01
    failure_tolerance: 0.3
    odom_topic: "/lidar_odom"
    progress_checker_plugin: "progress_checker"
    goal_checker_plugins: ["general_goal_checker"]
    controller_plugins: ["FollowPath"]

    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 1.0
      movement_time_allowance: 10.0

    general_goal_checker:
      stateful: true
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.5
      yaw_goal_tolerance: 1.57

    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: true
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 1.0
      max_vel_y: 0.0
      max_vel_theta: 0.6
      min_speed_xy: 0.0
      max_speed_xy: 0.7
      min_speed_theta: 0.1
      acc_lim_x: 3.2
      acc_lim_y: 0.0
      acc_lim_theta: 3.2
      decel_lim_x: -3.2
      decel_lim_y: 0.0
      decel_lim_theta: -3.2
      vx_samples: 20
      vy_samples: 5
      vtheta_samples: 20
      sim_time: 1.7
      linear_granularity: 0.05
      angular_granularity: 0.025
      transform_tolerance: 0.2
      xy_goal_tolerance: 0.35
      trans_stopped_velocity: 0.25
      short_circuit_trajectory_evaluation: true
      stateful: true
      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
      BaseObstacle.scale: 0.02
      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: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0

controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: false

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: false
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.025
      footprint: "[ [0.32, 0.32], [0.32, -0.32], [-0.32, -0.32], [-0.32, 0.32] ]"
      plugins: ["obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: true
        observation_sources: scan
        footprint_clearing_enabled: true
        max_obstacle_height: 2.0
        combination_method: 1
        scan:
          topic: /scan
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          max_obstacle_height: 2.0
          min_obstacle_height: 0.0
          clearing: true
          marking: true
          data_type: "LaserScan"
          inf_is_valid: false
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 1.5
        inflation_radius: 0.6
      static_layer:
        map_subscribe_transient_local: true
      always_send_full_costmap: true
  local_costmap_client:
    ros__parameters:
      use_sim_time: false
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: false

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: false
      rolling_window: false           # ensure static map, not a 5m window
      footprint: "[ [0.32, 0.32], [0.32, -0.32], [-0.32, -0.32], [-0.32, 0.32] ]"
      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: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      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: 0.55
      always_send_full_costmap: true
  global_costmap_client:
    ros__parameters:
      use_sim_time: false
  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: false

map_server:
  ros__parameters:
    use_sim_time: false
    yaml_filename: "/home/user/AMIGA_Robot/fast_lio_ws/Maps/Hop_field.yaml"

map_saver:
  ros__parameters:
    use_sim_time: false
    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: 20.0
    use_sim_time: false
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

planner_server_rclcpp_node:
  ros__parameters:
    use_sim_time: false

recoveries_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    recovery_plugins: ["spin", "backup", "wait"]
    spin:
      plugin: "nav2_recoveries/Spin"
    backup:
      plugin: "nav2_recoveries/BackUp"
    wait:
      plugin: "nav2_recoveries/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_timeout: 0.1
    use_sim_time: false
    simulate_ahead_time: 2.0
    max_rotational_vel: 0.3
    min_rotational_vel: 0.1
    rotational_acc_lim: 2.5

robot_state_publisher:
  ros__parameters:
    use_sim_time: false

waypoint_follower:
  ros__parameters:
    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