amcl: ros__parameters: use_sim_time: False alpha1: 0.2 alpha2: 0.2 alpha3: 0.2 alpha4: 0.2 alpha5: 0.2 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: 2.0 laser_max_range: 12.0 laser_min_range: 0.1 laser_model_type: "likelihood_field" max_beams: 180 max_particles: 8000 min_particles: 2000 odom_frame_id: "odom" pf_err: 0.05 pf_z: 0.99 recovery_alpha_fast: 0.1 recovery_alpha_slow: 0.001 resample_interval: 1 robot_model_type: "nav2_amcl::OmniMotionModel" save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: true transform_tolerance: 0.3 update_min_a: 0.1 update_min_d: 0.1 z_hit: 0.5 z_max: 0.05 z_rand: 0.5 z_short: 0.05 scan_topic: scan set_initial_pose: true # tự định vị tại initial_pose lúc khởi động -> map hiện ngay (chỉnh lại bằng 2D Pose Estimate nếu robot không ở gốc map) always_reset_initial_pose: false first_map_only: false initial_pose: x: 0.0 y: 0.0 z: 0.0 yaw: 0.0 bt_navigator: ros__parameters: use_sim_time: False global_frame: map robot_base_frame: base_link odom_topic: odom bt_loop_duration: 10 default_server_timeout: 20 wait_for_service_timeout: 1000 action_server_result_timeout: 900.0 # BẮT BUỘC ở Jazzy: thiếu cái này bt_navigator crash navigators: ["navigate_to_pose", "navigate_through_poses"] navigate_to_pose: plugin: "nav2_bt_navigator::NavigateToPoseNavigator" navigate_through_poses: plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" error_code_names: - compute_path_error_code - follow_path_error_code # '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. bt_navigator_navigate_through_poses_rclcpp_node: ros__parameters: use_sim_time: False bt_navigator_navigate_to_pose_rclcpp_node: ros__parameters: use_sim_time: False controller_server: ros__parameters: enable_stamped_cmd_vel: True # phat TwistStamped cho khop twist_mux + driver use_sim_time: False controller_frequency: 20.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.001 min_theta_velocity_threshold: 0.001 failure_tolerance: 0.3 progress_checker_plugin: "progress_checker" goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" controller_plugins: ["FollowPath"] # Progress checker parameters progress_checker: plugin: "nav2_controller::SimpleProgressChecker" required_movement_radius: 0.1 movement_time_allowance: 10.0 # 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" # Nới để robot báo "đã tới" khi cách đích ~0.4m (không ép sát tường được). xy_goal_tolerance: 0.4 # Robot quay mặt theo yaw đích (hướng nhìn vào 'face' trong rooms.yaml). yaw_goal_tolerance: 0.26 # DWB local planner FollowPath: plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: True min_vel_x: 0.0 min_vel_y: 0.0 max_vel_x: 0.5 max_vel_y: 0.0 max_vel_theta: 1.5 min_speed_xy: 0.0 max_speed_xy: 0.5 min_speed_theta: 0.0 acc_lim_x: 1.5 acc_lim_y: 2.5 acc_lim_theta: 3.0 decel_lim_x: -2.0 decel_lim_y: -2.5 decel_lim_theta: -2.0 vx_samples: 20 vy_samples: 1 vtheta_samples: 40 sim_time: 1.5 linear_granularity: 0.025 angular_granularity: 0.025 transform_tolerance: 0.5 xy_goal_tolerance: 0.4 trans_stopped_velocity: 0.1 short_circuit_trajectory_evaluation: True stateful: True critics: ["RotateToGoal", "Oscillation", "ObstacleFootprint", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] ObstacleFootprint.scale: 3.0 PathAlign.scale: 20.0 PathAlign.forward_point_distance: 0.1 GoalAlign.scale: 15.0 GoalAlign.forward_point_distance: 0.1 PathDist.scale: 10.0 GoalDist.scale: 15.0 RotateToGoal.scale: 20.0 RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0 local_costmap: local_costmap: ros__parameters: update_frequency: 10.0 publish_frequency: 5.0 global_frame: odom robot_base_frame: base_link use_sim_time: False rolling_window: true width: 5 height: 5 resolution: 0.05 footprint: "[ [0.34, 0.16], [0.34, -0.16], [-0.34, -0.16], [-0.34, 0.16] ]" # ObstacleLayer (2D) cho /scan LaserScan -> raytrace-xoá SẠCH khi vật dời đi. # (VoxelLayer là cho pointcloud 3D, clear không sạch với laser 2D -> đọng vết cũ.) plugins: ["obstacle_layer", "inflation_layer"] # bo static -> local chi dung vat can LIVE static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True 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: 5.0 raytrace_min_range: 0.1 # 3.5->2.5: điểm ma ở xa (nhiễu scan) không mark vào local costmap nữa; # robot vẫn thấy vật cản trong 2.5m là đủ để né kịp ở tốc độ ~0.5m/s. obstacle_max_range: 2.5 obstacle_min_range: 0.1 inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 2.0 inflation_radius: 0.19 # 0.2->0.3: robot giữ berth xa vật cản thêm ~10cm (né nới hơn) global_costmap: global_costmap: ros__parameters: update_frequency: 5.0 publish_frequency: 2.0 global_frame: map robot_base_frame: base_link use_sim_time: False resolution: 0.05 track_unknown_space: False static_map: True width: 50 height: 50 origin_x: -25.0 origin_y: -25.0 footprint: "[ [0.34, 0.16], [0.34, -0.16], [-0.34, -0.16], [-0.34, 0.16] ]" plugins: ["static_layer", "voxel_layer", "inflation_layer"] static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True voxel_layer: plugin: "nav2_costmap_2d::VoxelLayer" enabled: True publish_voxel_map: True observation_sources: scan scan: topic: /scan max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" raytrace_max_range: 6.0 raytrace_min_range: 0.0 obstacle_max_range: 4.0 obstacle_min_range: 0.0 inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 2.0 inflation_radius: 0.21 # 0.2->0.3: đường global cũng vẽ vòng rộng hơn cho khớp local map_server: ros__parameters: use_sim_time: False # Overridden in launch by the "map" launch configuration or provided default value. # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below. yaml_filename: "/home/dsc-labs/ros2_vlm/src/go2_navigation/map/trua77.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: planner_plugins: ["GridBased"] use_sim_time: False GridBased: plugin: "nav2_smac_planner::SmacPlanner2D" # 2D cho phép xoay tại chỗ trong văn phòng chật; các tham số Reeds-Shepp/turning_radius bên dưới KHÔNG được dùng tolerance: 0.5 # tolerance for planning if unable to reach exact pose, in meters downsample_costmap: false # whether or not to downsample the map downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm) allow_unknown: false # allow traveling in unknown space max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable max_on_approach_iterations: 1000 # maximum number of iterations to attempt to reach goal once in tolerance max_planning_time: 2.0 # max time in s for planner to plan, smooth, and upsample. Will scale maximum smoothing and upsampling times based on remaining time after planning. motion_model_for_search: "REEDS_SHEPP" # For Hybrid Dubin, Redds-Shepp cost_travel_multiplier: 2.0 # For 2D: Cost multiplier to apply to search to steer away from high cost areas. Larger values will place in the center of aisles more exactly (if non-`FREE` cost potential field exists) but take slightly longer to compute. To optimize for speed, a value of 1.0 is reasonable. A reasonable tradeoff value is 2.0. A value of 0.0 effective disables steering away from obstacles and acts like a naive binary search A*. angle_quantization_bins: 64 # For Hybrid nodes: Number of angle bins for search, must be 1 for 2D node (no angle search) analytic_expansion_ratio: 3.5 # For Hybrid/Lattice nodes: The ratio to attempt analytic expansions during search for final approach. 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 minimum_turning_radius: 0.30 # For Hybrid/Lattice nodes: minimum turning radius in m of path / vehicle reverse_penalty: 2.1 # For Reeds-Shepp model: penalty to apply if motion is reversing, must be => 1 change_penalty: 0.0 # For Hybrid nodes: penalty to apply if motion is changing directions, must be >= 0 non_straight_penalty: 1.20 # For Hybrid nodes: penalty to apply if motion is non-straight, must be => 1 cost_penalty: 1.5 # For Hybrid nodes: penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable. retrospective_penalty: 0.025 # For Hybrid/Lattice nodes: penalty to prefer later maneuvers before earlier along the path. Saves search time since earlier nodes are not expanded until it is necessary. Must be >= 0.0 and <= 1.0 rotation_penalty: 4.0 # For Lattice node: Penalty to apply only to pure rotate in place commands when using minimum control sets containing rotate in place primitives. This should always be set sufficiently high to weight against this action unless strictly necessary for obstacle avoidance or there may be frequent discontinuities in the plan where it requests the robot to rotate in place to short-cut an otherwise smooth path for marginal path distance savings. lookup_table_size: 20.0 # For Hybrid nodes: Size of the dubin/reeds-sheep distance window to cache, in meters. cache_obstacle_heuristic: True # For Hybrid nodes: Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static. allow_reverse_expansion: False # For Lattice nodes: Whether to expand state lattice graph in forward primitives or reverse as well, will double the branching factor at each step. smooth_path: True # For Lattice/Hybrid nodes: Whether or not to smooth the path, always true for 2D nodes. smoother: max_iterations: 1000 w_smooth: 0.3 w_data: 0.2 tolerance: 1.0e-10 do_refinement: true # Whether to recursively run the smoother 3 times on the results from prior runs to refine the results further behavior_server: ros__parameters: enable_stamped_cmd_vel: True # phat TwistStamped cho khop twist_mux + driver costmap_topic: local_costmap/costmap_raw footprint_topic: local_costmap/published_footprint cycle_frequency: 10.0 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" global_frame: odom robot_base_frame: base_link transform_tolerance: 0.1 use_sim_time: False simulate_ahead_time: 1.0 max_rotational_vel: 0.8 min_rotational_vel: 0.4 rotational_acc_lim: 3.2 robot_state_publisher: ros__parameters: use_sim_time: False waypoint_follower: ros__parameters: use_sim_time: False 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 collision_monitor: ros__parameters: enable_stamped_cmd_vel: True # phat TwistStamped cho khop twist_mux + driver use_sim_time: False base_frame_id: "base_link" odom_frame_id: "odom" cmd_vel_in_topic: "cmd_vel_smoothed" cmd_vel_out_topic: "cmd_vel" state_topic: "collision_monitor_state" transform_tolerance: 0.5 source_timeout: 3.0 base_shift_correction: True stop_pub_timeout: 2.0 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 docking_server: ros__parameters: use_sim_time: False controller_frequency: 50.0 initial_perception_timeout: 5.0 wait_charge_timeout: 5.0 dock_approach_timeout: 30.0 undock_linear_tolerance: 0.05 undock_angular_tolerance: 0.1 max_retries: 3 base_frame: "base_link" fixed_frame: "odom" dock_backwards: false dock_prestaging_tolerance: 0.5 dock_plugins: ['simple_charging_dock'] simple_charging_dock: plugin: 'opennav_docking::SimpleChargingDock' docking_threshold: 0.05 staging_x_offset: -0.7 use_external_detection_pose: true use_battery_status: false use_stall_detection: false external_detection_timeout: 1.0 external_detection_translation_x: -0.18 external_detection_translation_y: 0.0 external_detection_rotation_roll: -1.57 external_detection_rotation_pitch: -1.57 external_detection_rotation_yaw: 0.0 filter_coef: 0.1 controller: k_phi: 3.0 k_delta: 2.0 v_linear_min: 0.15 v_linear_max: 0.15 use_collision_detection: true costmap_topic: "local_costmap/costmap_raw" footprint_topic: "local_costmap/published_footprint" transform_tolerance: 0.1 projection_time: 5.0 simulation_step: 0.1 dock_collision_threshold: 0.3 smoother_server: ros__parameters: smoother_plugins: ["simple_smoother"] simple_smoother: plugin: "nav2_smoother::SimpleSmoother" tolerance: 1.0e-10 max_its: 1000 do_refinement: True velocity_smoother: ros__parameters: enable_stamped_cmd_vel: True # phat TwistStamped cho khop twist_mux + driver smoothing_frequency: 20.0 stamp_smoothed_velocity_with_smoothing_time: False scale_velocities: False feedback: "OPEN_LOOP" max_velocity: [0.5, 0.0, 2.0] min_velocity: [-0.5, 0.0, -2.0] max_accel: [2.5, 0.0, 3.2] max_decel: [-2.5, 0.0, -3.2] odom_topic: "odom" odom_duration: 0.1 deadband_velocity: [0.0, 0.0, 0.0] velocity_timeout: 1.0 route_server: ros__parameters: # The graph_filepath 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 "graph" value in the launch file(s). # file & provide full path to map below. If graph config or launch default is provided, it is used # graph_filepath: $(find-pkg-share nav2_route)/graphs/aws_graph.geojson boundary_radius_to_achieve_node: 1.0 radius_to_achieve_node: 2.0 smooth_corners: true operations: ["AdjustSpeedLimit", "ReroutingService", "CollisionMonitor"] ReroutingService: plugin: "nav2_route::ReroutingService" AdjustSpeedLimit: plugin: "nav2_route::AdjustSpeedLimit" CollisionMonitor: plugin: "nav2_route::CollisionMonitor" max_collision_dist: 3.0 edge_cost_functions: ["DistanceScorer", "CostmapScorer"] DistanceScorer: plugin: "nav2_route::DistanceScorer" CostmapScorer: plugin: "nav2_route::CostmapScorer"