amcl: ros__parameters: use_sim_time: false # HUMBLE: plugin name (replaces Galactic "robot_model_type") motion_model_type: "nav2_amcl::DifferentialMotionModel" alpha1: 0.005 alpha2: 0.005 alpha3: 0.005 alpha4: 0.005 alpha5: 0.005 base_frame_id: "base_link" 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: 20.0 general_goal_checker: stateful: true plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.35 yaw_goal_tolerance: 0.25 FollowPath: plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: true min_vel_x: 0.0 min_vel_y: 0.0 max_vel_x: 0.7 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: 0.8 acc_lim_y: 0.0 acc_lim_theta: 1.2 decel_lim_x: -1.0 decel_lim_y: 0.0 decel_lim_theta: -1.5 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", "stvl_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 # ---- Spatio-Temporal Voxel Layer (STVL) ---- stvl_layer: plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer" enabled: true voxel_decay: 5.0 # seconds (for decay_model 0) decay_model: 0 # 0=linear, 1=exponential voxel_size: 0.05 track_unknown_space: true unknown_threshold: 15 mark_threshold: 0 update_footprint_enabled: true combination_method: 1 origin_z: 0.0 publish_voxel_map: true transform_tolerance: 0.2 mapping_mode: false map_save_duration: 60.0 observation_sources: rgbd1_mark rgbd1_clear rgbd1_mark: data_type: PointCloud2 topic: /cloud_registered_body # <-- set to your cloud topic (e.g. /cloud_registered_body_be) marking: true clearing: false obstacle_range: 3.0 # meters min_obstacle_height: -5.0 # default 0, meters max_obstacle_height: 10.0 # default 3, meters, expected_update_rate: 10.0 # default 0, if not updating at this rate at least, remove from buffer observation_persistence: 0.0 # default 0, use all measurements taken during now-value, 0=latest inf_is_valid: false # default false, for laser scans filter: "voxel" # default passthrough, apply "voxel", "passthrough", or no filter to sensor data, recommend on voxel_min_points: 0 # default 0, minimum points per voxel for voxel filter clear_after_reading: true # default false, clear the buffer after the layer gets readings from it rgbd1_clear: enabled: true data_type: PointCloud2 topic: /cloud_registered_body # <-- same cloud marking: false clearing: true min_z: -2.0 # default 0, meters max_z: 5.0 # default 10, meters vertical_fov_angle: 1.03 # default 0.7, radians. For 3D lidars it's the symmetric FOV about the planar axis. vertical_fov_padding: 0.05 # 3D Lidar only. Default 0, in meters horizontal_fov_angle: 6.29 # 3D lidar scanners like the VLP16 have 360 deg horizontal FOV. decay_acceleration: 0.0 # default 0, 1/s^2. model_type: 1 # default 0, model type for frustum. 0=depth camera, 1=3d lidar like VLP16 or similar 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 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 # stvl_layer: # plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer" # For Foxy and later # enabled: true # voxel_decay: 20.0 # decay_model: 0 #-1 # voxel_size: 0.05 # track_unknown_space: true # unknown_threshold: 15 # mark_threshold: 0 # update_footprint_enabled: true # combination_method: 1 # origin_z: 0.0 # publish_voxel_map: true # transform_tolerance: 0.2 # mapping_mode: false # map_save_duration: 60.0 # observation_sources: rgbd1_mark rgbd1_clear # rgbd1_mark: # data_type: PointCloud2 # topic: /cloud_registered_body # marking: true # clearing: false # obstacle_range: 3.0 # meters # min_obstacle_height: 0.0 # default 0, meters # # max for office should be 1.2 # # max for playgroun should be 10 # max_obstacle_height: 10.0 # default 3, meters, # expected_update_rate: 0.0 # default 0, if not updating at this rate at least, remove from buffer # observation_persistence: 0.0 # default 0, use all measurements taken during now-value, 0=latest # inf_is_valid: false # default false, for laser scans # filter: "voxel" # default passthrough, apply "voxel", "passthrough", or no filter to sensor data, recommend on voxel_min_points: 0 # default 0, minimum points per voxel for voxel filter # clear_after_reading: true # default false, clear the buffer after the layer gets readings from it # rgbd1_clear: # enabled: true #default true, can be toggled on/off with associated service call # data_type: PointCloud2 # topic: /cloud_registered_body # <- change to your cloud topic (e.g. /cloud_registered_body_be) # marking: false # clearing: true # min_z: -5.0 # default 10, meters # max_z: 10.0 # default 0, meters # vertical_fov_angle: 0.6 # default 0.7, radians. For 3D lidars it's the symmetric FOV about the planar axis. # vertical_fov_padding: 0.05 # 3D Lidar only. Default 0, in meters # horizontal_fov_angle: 6.29 # 3D lidar scanners like the VLP16 have 360 deg horizontal FOV. # decay_acceleration: 0.0 # default 0, 1/s^2. # model_type: 1 # default 0, model type for frustum. 0=depth camera, 1=3d lidar like VLP16 or similar 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/.yaml # <- change to your map if needed 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