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Fixing turtlebot3 demos on Jazzy (#1422)

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* Fixing turtlebot3 demos on Jazzy

* Updated humble

* Working turtlebot3 demos on humble and jazzy
This commit is contained in:
matlabbe
2026-05-05 22:23:02 -07:00
committed by GitHub
parent 45375bb3c0
commit 8871f934b5
14 changed files with 2379 additions and 497 deletions
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rtabmap_demos/params/turtlebot3_scan_nav2_params.yaml
+250 -123
View File
@@ -1,85 +1,44 @@
# Modified to use icp_odom frame
# Using icp_odom TF instead of odom
bt_navigator:
ros__parameters:
use_sim_time: True
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
navigators: ["navigate_to_pose", "navigate_through_poses"]
navigate_to_pose:
plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
navigate_through_poses:
plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
# '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.
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
- nav2_spin_action_bt_node
- nav2_wait_action_bt_node
- nav2_assisted_teleop_action_bt_node
- nav2_back_up_action_bt_node
- nav2_drive_on_heading_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_globally_updated_goal_condition_bt_node
- nav2_is_path_valid_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_truncate_path_local_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_path_expiring_timer_condition
- nav2_distance_traveled_condition_bt_node
- nav2_single_trigger_bt_node
- nav2_goal_updated_controller_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
- nav2_controller_cancel_bt_node
- nav2_path_longer_on_approach_bt_node
- nav2_wait_cancel_bt_node
- nav2_spin_cancel_bt_node
- nav2_back_up_cancel_bt_node
- nav2_assisted_teleop_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
- nav2_is_battery_charging_condition_bt_node
bt_navigator_navigate_through_poses_rclcpp_node:
ros__parameters:
use_sim_time: True
# plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
# Built-in plugins are added automatically
# plugin_lib_names: []
bt_navigator_navigate_to_pose_rclcpp_node:
ros__parameters:
use_sim_time: True
error_code_names:
- compute_path_error_code
- follow_path_error_code
controller_server:
ros__parameters:
use_sim_time: True
enable_stamped_cmd_vel: True
controller_frequency: 20.0
costmap_update_timeout: 0.30
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugin: "progress_checker"
progress_checker_plugins: ["progress_checker"]
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
controller_plugins: ["FollowPath"]
use_realtime_priority: false
# Progress checker parameters
progress_checker:
@@ -97,48 +56,96 @@ controller_server:
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 0.26
max_vel_y: 0.0
max_vel_theta: 1.0
min_speed_xy: 0.0
max_speed_xy: 0.26
min_speed_theta: 0.0
# Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
decel_lim_x: -2.5
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: 0.25
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
plugin: "nav2_mppi_controller::MPPIController"
time_steps: 56
model_dt: 0.05
batch_size: 2000
ax_max: 3.0
ax_min: -3.0
ay_max: 3.0
ay_min: -3.0
az_max: 3.5
vx_std: 0.2
vy_std: 0.2
wz_std: 0.4
vx_max: 0.5
vx_min: -0.35
vy_max: 0.5
wz_max: 1.9
iteration_count: 1
prune_distance: 1.7
transform_tolerance: 0.1
temperature: 0.3
gamma: 0.015
motion_model: "DiffDrive"
visualize: true
regenerate_noises: true
TrajectoryVisualizer:
trajectory_step: 5
time_step: 3
AckermannConstraints:
min_turning_r: 0.2
critics: [
"ConstraintCritic", "CostCritic", "GoalCritic",
"GoalAngleCritic", "PathAlignCritic", "PathFollowCritic",
"PathAngleCritic", "PreferForwardCritic"]
ConstraintCritic:
enabled: true
cost_power: 1
cost_weight: 4.0
GoalCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
threshold_to_consider: 1.4
GoalAngleCritic:
enabled: true
cost_power: 1
cost_weight: 3.0
threshold_to_consider: 0.5
PreferForwardCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
threshold_to_consider: 0.5
CostCritic:
enabled: true
cost_power: 1
cost_weight: 3.81
near_collision_cost: 253
critical_cost: 300.0
consider_footprint: false
collision_cost: 1000000.0
near_goal_distance: 1.0
trajectory_point_step: 2
PathAlignCritic:
enabled: true
cost_power: 1
cost_weight: 14.0
max_path_occupancy_ratio: 0.05
trajectory_point_step: 4
threshold_to_consider: 0.5
offset_from_furthest: 20
use_path_orientations: false
PathFollowCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
offset_from_furthest: 5
threshold_to_consider: 1.4
PathAngleCritic:
enabled: true
cost_power: 1
cost_weight: 2.0
offset_from_furthest: 4
threshold_to_consider: 0.5
max_angle_to_furthest: 1.0
mode: 0
# TwirlingCritic:
# enabled: true
# twirling_cost_power: 1
# twirling_cost_weight: 10.0
local_costmap:
local_costmap:
@@ -147,7 +154,6 @@ local_costmap:
publish_frequency: 2.0
global_frame: icp_odom
robot_base_frame: base_link
use_sim_time: True
rolling_window: true
width: 3
height: 3
@@ -157,7 +163,7 @@ local_costmap:
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
inflation_radius: 0.70
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
@@ -190,7 +196,6 @@ global_costmap:
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
robot_radius: 0.22
resolution: 0.05
track_unknown_space: true
@@ -215,23 +220,22 @@ global_costmap:
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
inflation_radius: 0.7
always_send_full_costmap: True
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: True
planner_plugins: ["GridBased"]
costmap_update_timeout: 1.0
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
plugin: "nav2_navfn_planner::NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true
smoother_server:
ros__parameters:
use_sim_time: True
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
@@ -241,55 +245,178 @@ smoother_server:
behavior_server:
ros__parameters:
costmap_topic: local_costmap/costmap_raw
footprint_topic: local_costmap/published_footprint
enable_stamped_cmd_vel: True
local_costmap_topic: local_costmap/costmap_raw
global_costmap_topic: global_costmap/costmap_raw
local_footprint_topic: local_costmap/published_footprint
global_footprint_topic: global_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
plugin: "nav2_behaviors::Spin"
backup:
plugin: "nav2_behaviors/BackUp"
plugin: "nav2_behaviors::BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
plugin: "nav2_behaviors::DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
plugin: "nav2_behaviors::Wait"
assisted_teleop:
plugin: "nav2_behaviors/AssistedTeleop"
global_frame: icp_odom
plugin: "nav2_behaviors::AssistedTeleop"
local_frame: icp_odom
global_frame: map
robot_base_frame: base_link
transform_tolerance: 0.1
use_sim_time: true
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 3.2
robot_state_publisher:
ros__parameters:
use_sim_time: True
waypoint_follower:
ros__parameters:
use_sim_time: True
loop_rate: 20
stop_on_failure: false
action_server_result_timeout: 900.0
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
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"
velocity_smoother:
ros__parameters:
use_sim_time: True
enable_stamped_cmd_vel: True
smoothing_frequency: 20.0
stamp_smoothed_velocity_with_smoothing_time: False
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.26, 0.0, 1.0]
min_velocity: [-0.26, 0.0, -1.0]
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
collision_monitor:
ros__parameters:
enable_stamped_cmd_vel: True
base_frame_id: "base_footprint"
odom_frame_id: "icp_odom"
cmd_vel_in_topic: "cmd_vel_smoothed"
cmd_vel_out_topic: "cmd_vel"
state_topic: "collision_monitor_state"
transform_tolerance: 0.2
source_timeout: 1.0
base_shift_correction: True
stop_pub_timeout: 2.0
# Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types,
# and robot footprint for "approach" action type.
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:
enable_stamped_cmd_vel: True
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: "icp_odom"
dock_backwards: false
dock_prestaging_tolerance: 0.5
# Types of docks
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 # true
use_stall_detection: false # true
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
# Dock instances
# The following example illustrates configuring dock instances.
# docks: ['home_dock'] # Input your docks here
# home_dock:
# type: 'simple_charging_dock'
# frame: map
# pose: [0.0, 0.0, 0.0]
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
loopback_simulator:
ros__parameters:
base_frame_id: "base_footprint"
odom_frame_id: "icp_odom"
map_frame_id: "map"
scan_frame_id: "base_scan" # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
update_duration: 0.02
scan_range_min: 0.05
scan_range_max: 30.0
scan_angle_min: -3.1415
scan_angle_max: 3.1415
scan_angle_increment: 0.02617
scan_use_inf: true