nav2_params.yaml

---
### NAVIGATION ###

bt_navigator:
  ros__parameters:
    use_sim_time: false
    global_frame: <namespace>/map
    robot_base_frame: <namespace>/base_link
    odom_topic: odometry/filtered
    plugin_lib_names:
      - is_estop
      - nav2_compute_path_to_pose_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_remove_passed_goals_action_bt_node
      - nav2_compute_path_through_poses_action_bt_node

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:
    use_sim_time: false

    controller_frequency: 10.0
    odom_topic: odometry/filtered

    # if velocity is below threshold value it is set to 0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001

    progress_checker_plugin: progress_checker
    progress_checker:
      plugin: nav2_controller::SimpleProgressChecker
      required_movement_radius: 0.5
      movement_time_allowance: 10.0

    goal_checker_plugin: goal_checker
    goal_checker:
      plugin: nav2_controller::SimpleGoalChecker
      xy_goal_tolerance: 0.1
      yaw_goal_tolerance: 0.25
      stateful: true # if stateful is true goal checker will not check if the xy position matches again once it is found to be true.

    controller_plugins: [FollowPath]
    FollowPath:
      # Shim controller first rotates robot in place to orientation of global path
      # and the switches to DWB - otherwise DWB won't turn in place, but with arc, which
      # is less optimal
      plugin: nav2_rotation_shim_controller::RotationShimController
      primary_controller: dwb_core::DWBLocalPlanner
      angular_dist_threshold: 0.4 # quite low value to avoid moving in arc
      forward_sampling_distance: 0.5
      rotate_to_heading_angular_vel: 1.5
      # I'm not sure why, but ang vel is limited max_angular_accel param divided by 10
      # actual acceleration will be limited by controller, so it can be set to higher value
      max_angular_accel: 10.0
      simulate_ahead_time: 1.0

      debug_trajectory_details: true

      # Velocity/acceleration limits also have to be adjusted in the velocity smoother
      min_vel_x: -0.25
      max_vel_x: 0.5
      acc_lim_x: 1.0
      decel_lim_x: -1.0
      min_speed_xy: 0.007
      max_speed_xy: 0.5

      max_vel_theta: 1.5
      min_speed_theta: 0.4
      acc_lim_theta: 4.0
      decel_lim_theta: -4.0

      min_vel_y: 0.0
      max_vel_y: 0.0
      acc_lim_y: 0.0
      decel_lim_y: 0.0

      vx_samples: 20
      vy_samples: 0
      vtheta_samples: 20

      transform_tolerance: 0.2
      short_circuit_trajectory_evaluation: true

      trajectory_generator_name: dwb_plugins::StandardTrajectoryGenerator
      sim_time: 0.75 # low value to avoid slow movement near goal
      discretize_by_time: false
      linear_granularity: 0.05
      angular_granularity: 0.025

      # Critics used for scoring trajectories created by trajectory generator
      # Final score is a sum of critics' score
      critics: [BaseObstacle, ObstacleFootprint, GoalAlign, GoalDist, PathAlign, PathDist, RotateToGoal,
        Oscillation]

      BaseObstacle.scale: 0.02

      GoalAlign.scale: 24.0
      GoalAlign.forward_point_distance: 0.1
      GoalDist.scale: 24.0

      PathAlign.scale: 32.0
      PathAlign.forward_point_distance: 0.1
      PathDist.scale: 32.0

      xy_goal_tolerance: 0.1
      trans_stopped_velocity: 0.25
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0

local_costmap:
  local_costmap:
    ros__parameters:
      use_sim_time: false

      global_frame: <namespace>/odom
      robot_base_frame: <namespace>/base_link
      transform_tolerance: 0.1

      update_frequency: 5.0
      publish_frequency: 2.0

      width: 8
      height: 8
      resolution: 0.05

      always_send_full_costmap: true
      rolling_window: true

      footprint: '[[0.45, 0.47], [0.45, -0.47], [-0.45, -0.47], [-0.45, 0.47]]'

      plugins: [inflation_layer, obstacle_layer, voxel_layer]
      inflation_layer:
        plugin: nav2_costmap_2d::InflationLayer
        cost_scaling_factor: 1.3
        inflation_radius: 1.5
      obstacle_layer:
        plugin: nav2_costmap_2d::ObstacleLayer
        enable: <is_laserscan>
        footprint_clearing_enabled: true
        observation_sources: scan
        scan:
          topic: <observation_topic>
          clearing: true
          marking: true
          data_type: LaserScan
          min_obstacle_height: 0.1
          max_obstacle_height: 0.5
          obstacle_max_range: 12.0
          obstacle_min_range: 0.9
          raytrace_max_range: 12.0
          raytrace_min_range: 0.9
      voxel_layer:
        plugin: nav2_costmap_2d::VoxelLayer
        enable: <is_pointcloud>
        footprint_clearing_enabled: true
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 10
        mark_threshold: 0
        observation_sources: point_cloud
        point_cloud:
          topic: <observation_topic>
          clearing: true
          marking: true
          data_type: PointCloud2
          min_obstacle_height: 0.1
          max_obstacle_height: 0.5
          obstacle_max_range: 12.0
          obstacle_min_range: 0.9
          raytrace_max_range: 12.0
          raytrace_min_range: 0.9

global_costmap:
  global_costmap:
    ros__parameters:
      use_sim_time: false

      global_frame: <namespace>/map
      robot_base_frame: <namespace>/base_link
      transform_tolerance: 0.1

      update_frequency: 1.0
      publish_frequency: 1.0

      resolution: 0.05

      always_send_full_costmap: true
      track_unknown_space: true # if false, treats unknown space as free space, else as unknown space

      footprint: '[[0.45, 0.47], [0.45, -0.47], [-0.45, -0.47], [-0.45, 0.47]]'

      plugins: [inflation_layer, obstacle_layer, static_layer, voxel_layer]
      inflation_layer:
        plugin: nav2_costmap_2d::InflationLayer
        cost_scaling_factor: 1.5
        inflation_radius: 1.5
        inflate_around_unknown: false
        inflate_unknown: false
      obstacle_layer:
        plugin: nav2_costmap_2d::ObstacleLayer
        enable: <is_laserscan>
        footprint_clearing_enabled: true
        observation_sources: scan
        scan:
          topic: <observation_topic>
          clearing: true
          marking: true
          data_type: LaserScan
          min_obstacle_height: 0.1
          max_obstacle_height: 0.5
          obstacle_max_range: 12.0
          obstacle_min_range: 0.9
          raytrace_max_range: 12.0
          raytrace_min_range: 0.9
      static_layer:
        plugin: nav2_costmap_2d::StaticLayer
        map_subscribe_transient_local: true
        map_topic: /<namespace>/map
      voxel_layer:
        plugin: nav2_costmap_2d::VoxelLayer
        enable: <is_pointcloud>
        footprint_clearing_enabled: true
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 10
        mark_threshold: 0
        observation_sources: point_cloud
        point_cloud:
          topic: <observation_topic>
          clearing: true
          marking: true
          data_type: PointCloud2
          min_obstacle_height: 0.1
          max_obstacle_height: 0.5
          obstacle_max_range: 12.0
          obstacle_min_range: 0.9
          raytrace_max_range: 12.0
          raytrace_min_range: 0.9

planner_server:
  ros__parameters:
    use_sim_time: false
    expected_planner_frequency: 1.0

    planner_plugins: [GridBased]
    GridBased:
      plugin: nav2_smac_planner/SmacPlanner2D
      tolerance: 0.125 # 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: true # allow traveling in unknown space
      max_iterations: 500000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
      max_on_approach_iterations: 500 # maximum number of iterations to attempt to reach goal once in tolerance
      max_planning_time: 3.0 # max time in s for planner to plan, smooth
      cost_travel_multiplier: 2.5 # 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*.
      use_final_approach_orientation: false # Whether to set the final path pose at the goal's orientation to the requested orientation (false) or in line with the approach angle so the robot doesn't rotate to heading (true)
      smoother:
        max_iterations: 500
        w_smooth: 0.3
        w_data: 0.2
        tolerance: 1.0e-6

recoveries_server:
  ros__parameters:
    use_sim_time: false

    global_frame: <namespace>/odom
    robot_base_frame: <namespace>/base_link
    transform_tolerance: 0.1

    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

    # spin & backup
    simulate_ahead_time: 2.0

    # spin
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

behavior_server:
  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
      waypoint_pause_duration: 5

velocity_smoother:
  ros__parameters:
    use_sim_time: True
    smoothing_frequency: 20.0
    scale_velocities: False
    feedback: OPEN_LOOP
    max_velocity: [0.5, 0.0, 1.0]
    min_velocity: [-0.5, 0.0, -1.0]
    max_accel: [2.5, 0.0, 3.2]
    max_decel: [-2.5, 0.0, -3.2]
    odom_topic: <namespace>/odom
    odom_duration: 0.1
    deadband_velocity: [0.0, 0.0, 0.0]
    velocity_timeout: 1.0

### LOCALIZATION ###

amcl:
  ros__parameters:
    use_sim_time: false

    global_frame_id: <namespace>/map
    odom_frame_id: <namespace>/odom
    base_frame_id: <namespace>/base_link

    scan_topic: <scan_topic>

    robot_model_type: nav2_amcl::DifferentialMotionModel

    set_initial_pose: true
    always_reset_initial_pose: true
    initial_pose:
      x: 0.0
      y: 0.0
      yaw: 0.0

    tf_broadcast: true
    transform_tolerance: 1.0

    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2

    # Beam skipping - ignores beams for which a majoirty of particles do not agree with the map
    # prevents correct particles from getting down weighted because of unexpected obstacles
    # such as humans
    do_beamskip: false
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3

    lambda_short: 0.1

    laser_model_type: likelihood_field
    laser_likelihood_max_dist: 2.0
    laser_max_range: 12.0
    laser_min_range: -1.0

    max_beams: 60

    max_particles: 2000
    min_particles: 500

    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
    sigma_hit: 0.2

    update_min_a: 0.1
    update_min_d: 0.15

    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05

### MAP SERVER ###

map_server:
  ros__parameters:
    use_sim_time: false
    yaml_filename: map.yaml
    frame_id: <namespace>/map

map_autosaver:
  ros__parameters:
    use_sim_time: false
    autosave_period: 15.0
    map_directory: /maps/map

### SLAM ###

<namespace>/slam_toolbox:
  ros__parameters:
    # Plugin params
    solver_plugin: solver_plugins::CeresSolver
    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
    ceres_preconditioner: SCHUR_JACOBI
    ceres_trust_strategy: LEVENBERG_MARQUARDT
    ceres_dogleg_type: TRADITIONAL_DOGLEG
    ceres_loss_function: None #HuberLoss

    # ROS Parameters
    odom_frame: <namespace>/odom
    map_frame: <namespace>/map
    base_frame: <namespace>/base_link
    scan_topic: <scan_topic>
    mode: mapping #localization

    debug_logging: false
    throttle_scans: 1
    transform_publish_period: 0.04
    map_update_interval: 1.0
    resolution: 0.1
    max_laser_range: 12.0 #for rastering images
    minimum_time_interval: 0.05
    transform_timeout: 0.5
    tf_buffer_duration: 20.0
    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
    enable_interactive_mode: false

    # General Parameters
    use_scan_matching: true
    use_scan_barycenter: true
    minimum_travel_distance: 0.2
    minimum_travel_heading: 0.1
    scan_buffer_size: 10
    scan_buffer_maximum_scan_distance: 0.5
    link_match_minimum_response_fine: 0.1
    link_scan_maximum_distance: 0.75
    loop_search_maximum_distance: 3.0
    do_loop_closing: true
    loop_match_minimum_chain_size: 10
    loop_match_maximum_variance_coarse: 3.0
    loop_match_minimum_response_coarse: 0.35
    loop_match_minimum_response_fine: 0.45

    # Correlation Parameters - Correlation Parameters
    correlation_search_space_dimension: 0.5
    correlation_search_space_resolution: 0.01
    correlation_search_space_smear_deviation: 0.1

    # Correlation Parameters - Loop Closure Parameters
    loop_search_space_dimension: 8.0
    loop_search_space_resolution: 0.05
    loop_search_space_smear_deviation: 0.03

    # Scan Matcher Parameters
    distance_variance_penalty: 0.5
    angle_variance_penalty: 1.0

    fine_search_angle_offset: 0.00349
    coarse_search_angle_offset: 0.349
    coarse_angle_resolution: 0.0349
    minimum_angle_penalty: 0.9
    minimum_distance_penalty: 0.5
    use_response_expansion: true

    use_sim_time: false