controller params update

Author: padhupradheep

configs/mp_400/navigation.yaml

@@ -204,28 +204,66 @@ controller_server:
       stateful: True
     # RegulatedPurePursuitController Parameters
     FollowPath:
-      plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
-      desired_linear_vel: 0.5
-      max_linear_accel: 0.2
-      max_linear_decel: 0.2
-      lookahead_dist: 0.6
-      min_lookahead_dist: 0.3 #0.3
-      max_lookahead_dist: 0.9 #0.9
-      lookahead_time: 1.5 #1.5
-      rotate_to_heading_angular_vel: 0.6
-      transform_tolerance: 0.1
-      use_velocity_scaled_lookahead_dist: false
-      min_approach_linear_velocity: 0.01
-      use_approach_linear_velocity_scaling: true
-      max_allowed_time_to_collision: 1.0
-      use_regulated_linear_velocity_scaling: true
-      use_cost_regulated_linear_velocity_scaling: false
-      regulated_linear_scaling_min_radius:  0.9
-      regulated_linear_scaling_min_speed: 0.25
-      use_rotate_to_heading: true
-      rotate_to_heading_min_angle: 0.785
-      max_angular_accel: 0.6
-      allow_reversing: false
+      plugin: "neo_local_planner2::NeoLocalPlanner"
+      # The x acceleration limit of the robot in meters/sec^2
+       # The x acceleration limit of the robot in meters/sec^2
+      acc_lim_x : 0.25
+      # The rotational acceleration limit of the robot in radians/sec^2
+      acc_lim_theta : 0.8
+      # The maximum x velocity for the robot in m/s.
+      max_vel_x : 0.8
+      # The minimum x velocity for the robot in m/s, negative for backwards motion.
+      min_vel_x : -0.1
+      # The absolute value of the maximum rotational velocity for the robot in rad/s
+      max_rot_vel : 0.8
+      # The absolute value of the minimum rotational velocity for the robot in rad/s
+      min_rot_vel : 0.1
+      # The absolute value of the maximum translational velocity for the robot in m/s
+      max_trans_vel : 0.8
+      # The absolute value of the minimum translational velocity for the robot in m/s
+      min_trans_vel : 0.1
+      # The tolerance in radians for the controller in yaw/rotation when achieving its goal
+      yaw_goal_tolerance : 0.05
+      # The tolerance in meters for the controller in the x & y distance when achieving a goal
+      xy_goal_tolerance : 0.1
+      # How long to fine tune for goal position after reaching tolerance limits [s]
+      goal_tune_time : 3.0
+      # How far to predict control pose into the future based on latest odometry [s]
+      lookahead_time : 0.3
+      # How far to look ahead when computing path orientation [m]
+      lookahead_dist : 0.5
+      # Threshold yaw error below which we consider to start moving [rad]
+      start_yaw_error : 0.2
+      # Gain when adjusting final x position for goal [1/s]
+      pos_x_gain : 1.0
+      # Gain for lane keeping based on y error (differential only) [rad/s^2]
+      pos_y_yaw_gain : 1.0
+      # Gain for lane keeping based on yaw error (differential only) [1/s]
+      yaw_gain : 2.0
+      # Gain for adjusting yaw when not translating, or in case of holonomic drive  [1/s]
+      static_yaw_gain : 3.0
+      # Gain for y cost avoidance (differential only)
+      cost_y_yaw_gain : 0.3
+      # How far ahead to compute y cost gradient (constant offset) [m]
+      cost_y_lookahead_dist : 0.3
+      # How far ahead to compute y cost gradient (dynamic offset) [s]
+      cost_y_lookahead_time : 1.5
+      # Gain for yaw cost avoidance
+      cost_yaw_gain : 2.0
+      # Gain for final control low pass filter
+      low_pass_gain : 0.2
+      # Max cost to allow, above we slow down to min_trans_vel or even stop
+      max_cost : 0.95
+      # Max velocity based on curvature [rad/s]
+      max_curve_vel : 0.3
+      # Max distance to goal when looking for it [m]
+      max_goal_dist : 0.3
+      # Max distance allowable for backing up (zero = unlimited) [m]
+      max_backup_dist : 0.1
+      # Minimal distance for stopping [m]
+      min_stop_dist : 0.3
+      # If robot has differential drive, holonomic otherwise
+      differential_drive : true
 
 local_costmap:
   local_costmap:

configs/mp_500/navigation.yaml

@@ -203,56 +203,70 @@ controller_server:
       yaw_goal_tolerance: 0.05
       stateful: True
     # neo_local_planner controller parameters
+controller_server:
+  ros__parameters:
+    # controller server parameters (see Controller Server for more info)
+    use_sim_time: False
+    controller_frequency: 50.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    progress_checker_plugin: "progress_checker"
+    goal_checker_plugins: ["general_goal_checker"]
+    progress_checker_plugin: "progress_checker"
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 100.0
+    general_goal_checker:
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.05
+      yaw_goal_tolerance: 0.05
+      stateful: True
     FollowPath:
-      plugin: "neo_local_planner::NeoLocalPlanner"
+      plugin: "neo_local_planner2::NeoLocalPlanner"
       # The x acceleration limit of the robot in meters/sec^2
-      acc_lim_x : 0.25
-      # The y acceleration limit of the robot in meters/sec^2
-      acc_lim_y : 0.25
+      acc_lim_x : 0.2
       # The rotational acceleration limit of the robot in radians/sec^2
-      acc_lim_theta : 1.0
+      acc_lim_theta : 0.6
       # The maximum x velocity for the robot in m/s.
-      max_vel_x : 0.6
+      max_vel_x : 0.8
       # The minimum x velocity for the robot in m/s, negative for backwards motion.
-      min_vel_x : -0.2
-      # The maximum y velocity for the robot in m/s
-      max_vel_y : 0.5
-      # The minimum y velocity for the robot in m/s
-      min_vel_y : -0.5
+      min_vel_x : -0.1
       # The absolute value of the maximum rotational velocity for the robot in rad/s
-      max_rot_vel : 0.8
+      max_rot_vel : 0.6
       # The absolute value of the minimum rotational velocity for the robot in rad/s
       min_rot_vel : 0.1
       # The absolute value of the maximum translational velocity for the robot in m/s
-      max_trans_vel : 0.6
+      max_trans_vel : 0.8
       # The absolute value of the minimum translational velocity for the robot in m/s
       min_trans_vel : 0.1
       # The tolerance in radians for the controller in yaw/rotation when achieving its goal
-      yaw_goal_tolerance : 0.005
+      yaw_goal_tolerance : 0.01
       # The tolerance in meters for the controller in the x & y distance when achieving a goal
-      xy_goal_tolerance : 0.01
+      xy_goal_tolerance : 0.1
       # How long to fine tune for goal position after reaching tolerance limits [s]
-      goal_tune_time : 2.0
+      goal_tune_time : 3.0
       # How far to predict control pose into the future based on latest odometry [s]
       lookahead_time : 0.4
       # How far to look ahead when computing path orientation [m]
       lookahead_dist : 0.5
       # Threshold yaw error below which we consider to start moving [rad]
-      start_yaw_error : 0.5
+      start_yaw_error : 0.2
       # Gain when adjusting final x position for goal [1/s]
       pos_x_gain : 1.0
-       # Gain when adjusting y position (holonomic only) [1/s]
-      pos_y_gain : 1.0
+      # Gain for lane keeping based on y error (differential only) [rad/s^2]
+      pos_y_yaw_gain : 1.0
+      # Gain for lane keeping based on yaw error (differential only) [1/s]
+      yaw_gain : 2.0
       # Gain for adjusting yaw when not translating, or in case of holonomic drive  [1/s]
       static_yaw_gain : 3.0
-      # Gain for x cost avoidance (holonomic only)
-      cost_x_gain : 0.2
-      # Gain for y cost avoidance (holonomic only)
-      cost_y_gain : 0.2
+      # Gain for y cost avoidance (differential only)
+      cost_y_yaw_gain : 0.3
       # How far ahead to compute y cost gradient (constant offset) [m]
-      cost_y_lookahead_dist : 0.0
+      cost_y_lookahead_dist : 0.3
       # How far ahead to compute y cost gradient (dynamic offset) [s]
-      cost_y_lookahead_time : 2.0
+      cost_y_lookahead_time : 1.5
       # Gain for yaw cost avoidance
       cost_yaw_gain : 2.0
       # Gain for final control low pass filter
@@ -262,15 +276,13 @@ controller_server:
       # Max velocity based on curvature [rad/s]
       max_curve_vel : 0.3
       # Max distance to goal when looking for it [m]
-      max_goal_dist : 0.5
+      max_goal_dist : 0.3
       # Max distance allowable for backing up (zero = unlimited) [m]
-      max_backup_dist : 0.0
+      max_backup_dist : 0.1
       # Minimal distance for stopping [m]
-      min_stop_dist : 0.6
+      min_stop_dist : 0.3
       # If robot has differential drive, holonomic otherwise
-      differential_drive : false
-      # Enable or disable reversing
-      allow_reversing: false
+      differential_drive : true
 
 local_costmap:
   local_costmap:

configs/mpo_500/navigation.yaml

@@ -200,7 +200,7 @@ controller_server:
       stateful: True
     # neo_local_planner parameters
     FollowPath:
-      plugin: "neo_local_planner::NeoLocalPlanner"
+      plugin: "neo_local_planner2::NeoLocalPlanner"
       # The x acceleration limit of the robot in meters/sec^2
       acc_lim_x : 0.25
       # The y acceleration limit of the robot in meters/sec^2

configs/mpo_700/navigation.yaml

@@ -187,7 +187,7 @@ controller_server:
     # controller server parameters (see Controller Server for more info)
     controller_plugins: ["FollowPath"]
     controller_frequency: 100.0
-    controller_plugin_types: ["neo_local_planner::NeoLocalPlanner"]
+    controller_plugin_types: ["neo_local_planner2::NeoLocalPlanner"]
     goal_checker_plugins: ["general_goal_checker"]
     progress_checker_plugin: "progress_checker"
     progress_checker:
@@ -200,7 +200,7 @@ controller_server:
       yaw_goal_tolerance: 0.05
       stateful: True
     FollowPath:
-      plugin: "neo_local_planner::NeoLocalPlanner"
+      plugin: "neo_local_planner2::NeoLocalPlanner"
       acc_lim_x : 0.25
       acc_lim_y : 0.25
       acc_lim_theta : 0.8