Merge pull request #18 from mleegwt/master

Fixing configuration for Nav2

Author: mleegwt

README.md

@@ -6,7 +6,7 @@ Load ROS 2:
 Navigate to ROS workspace:
 `cd ros_ws`
 
-# Temerature sensor
+# Temperature sensor
 Build and run temperature sensor node (my SensorID):
 `colcon build && source ./install/setup.bash && ros2 run tempreader tempreaderNode --ros-args -p sensorId:=28.C23646D48524 &`
 

ros_ws/src/navigation/config/bt_navigator.yaml

@@ -0,0 +1,15 @@
+/bt_navigator:
+  ros__parameters:
+    use_sim_time: false
+
+    # Path naar je behavior tree XML in de nav2_bringup package
+    default_bt_xml_filename: >
+      /opt/ros/jazzy/share/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_recovery.xml
+
+    # (optioneel) schakel recovery nodes in/uit
+    enable_recovery: true
+    # (optioneel) namen van recovery plugins
+    recovery_behaviors: ["spin", "backup"]
+
+    # (optioneel) hoeveel keer een recovery maximaal te proberen
+    expected_planner_frequency: 20.0

ros_ws/src/navigation/config/controller_server.yaml

@@ -1,29 +1,54 @@
 /controller_server:
   ros__parameters:
     use_sim_time: false
-    controller_plugins: ["FollowWaypoints"]
+    controller_plugins: ["RegulatedPurePursuitController"]
+    controller_frequency: 10.0
+    transform_tolerance: 0.1
 
-    local_costmap:
+    progress_checker_plugins: ["progress_checker"]
+    goal_checker_plugins: ["goal_checker"]
+
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+
+    goal_checker:
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.5
+      yaw_goal_tolerance: 0.2
+      stateful: true
+
+    RegulatedPurePursuitController:
+      plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
+      lookahead_dist: 0.5
+      desired_linear_vel: 0.25
+
+/local_costmap:
+  local_costmap:
+    ros__parameters:
       global_frame: local_enu
       robot_base_frame: base_link
       update_frequency: 5.0
       publish_frequency: 2.0
       rolling_window: true
-      width: 1000.0
-      height: 1000.0
+      width: 1000
+      height: 1000
       resolution: 5.0
-      transform_tolerance: 1.0
-      inflation_radius: 0.5
+      transform_tolerance: 0.5
+      robot_radius: 0.6
       cost_scaling_factor: 10.0
 
-      plugins:
-        - name: obstacle_layer
-          type: "nav2_costmap_2d::ObstacleLayer"
-        - name: inflation_layer
-          type: "nav2_costmap_2d::InflationLayer"
+      static_layer:
+        enabled: false
+
+      plugins: ["obstacle_layer", "inflation_layer"]
+
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
 
-    FollowWaypoints:
-      plugin: "nav2_controller::FollowWaypoints"
-      allow_in_place_goal: true
-      controller_frequency: 10.0
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        inflation_radius: 2.0
+        cost_scaling_factor: 10.0
 

ros_ws/src/navigation/config/planner_server.yaml

@@ -10,6 +10,26 @@
 
     expected_planner_frequency: 20.0
 
-    global_costmap:
+/global_costmap:
+  global_costmap:
+    ros__parameters:
+      global_frame: local_enu
+      robot_base_frame: base_link
+      rolling_window: true
+      width: 1000
+      height: 1000
+      resolution: 1.0
+      transform_tolerance: 0.5
+      robot_radius: 0.6
       static_layer:
         enabled: false
+
+      plugins: ["obstacle_layer", "inflation_layer"]
+
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        inflation_radius: 2.0
+        cost_scaling_factor: 8.0

ros_ws/src/navigation/launch/nav2_stack.launch.py

@@ -31,6 +31,11 @@ def generate_launch_description():
         'config',
         'navsat.yaml'
     )
+    bt_navigator_yaml = os.path.join(
+        get_package_share_directory('navigation'),
+        'config',
+        'bt_navigator.yaml'
+    )
     nodes = [
         Node(
             package='tf2_ros',
@@ -95,7 +100,8 @@ def generate_launch_description():
             executable='bt_navigator',
             name='bt_navigator',
             namespace='',
-            parameters=[{'use_sim_time': False}],
+            parameters=[ bt_navigator_yaml ],
+            output='screen'
         ),
         LifecycleNode(
             package='nav2_controller',
@@ -125,6 +131,14 @@ def generate_launch_description():
             output='screen',
             parameters=[behavior_yaml],
         ),
+        LifecycleNode(
+            package='nav2_waypoint_follower',
+            executable='waypoint_follower',
+            name='waypoint_follower',
+            namespace='',
+            parameters=[{'use_sim_time': False}],
+            output='screen',
+        ),
         Node(
             package='robot_localization',
             executable='ekf_node',
@@ -161,6 +175,7 @@ def generate_launch_description():
                     'planner_server',
                     'behavior_server',
                     'bt_navigator',
+                    'waypoint_follower'
                 ]
             }]
         ),

ros_ws/src/navigation/setup.py

@@ -13,6 +13,7 @@
         ('share/' + package_name + '/config', ['config/controller_server.yaml']),
         ('share/' + package_name + '/config', ['config/planner_server.yaml']),
         ('share/' + package_name + '/config', ['config/behavior_server.yaml']),
+        ('share/' + package_name + '/config', ['config/bt_navigator.yaml']),
         ('share/' + package_name + '/config', ['config/ekf.yaml']),
         ('share/' + package_name + '/config', ['config/navsat.yaml']),
         ('share/' + package_name, ['package.xml']),