seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 5 Actions Packages Projects Releases Wiki Activity

feat: Configure Nav2 navigation stack conservative speeds (Issue #475)

Browse Source 
- Update max_vel_x to 0.3 m/s (conservative for FC + hoverboard ESC)
- Update max_vel_theta to 0.5 rad/s (conservative for FC + hoverboard ESC)
- Set robot_radius to 0.22 m for 0.4m x 0.4m footprint
- Configure velocity smoother with conservative limits
- Both DWB local planner and velocity smoother updated for consistency
- RPLIDAR (/scan) + depth_to_laserscan (/depth_scan) costmap layers enabled
- NavFn global planner, DWB local planner configured

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
This commit is contained in:
sl-controls 2026-03-05 14:50:41 -05:00
parent 56a48b4e25
commit 285178b2f9
1 changed files with 14 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml
View File

@ -1,10 +1,10 @@
# Nav2 parameters — SaltyBot (Jetson Orin Nano Super / ROS2 Humble) # Nav2 parameters — SaltyBot (Jetson Orin Nano Super / ROS2 Humble)
# #
# Robot: differential-drive self-balancing two-wheeler # Robot: differential-drive self-balancing two-wheeler
# robot_radius: 0.15 m (~0.2m with margin) # robot_radius: 0.22 m (0.4m x 0.4m footprint)
# footprint: 0.4 x 0.4 m (x 2m for buffer) # footprint: 0.4 x 0.4 m
# max_vel_x: 1.0 m/s # max_vel_x: 0.3 m/s (conservative for FC + hoverboard ESC, Issue #475)
# max_vel_theta: 1.5 rad/s # max_vel_theta: 0.5 rad/s (conservative for FC + hoverboard ESC, Issue #475)
# #
# Localization: RTAB-Map (publishes /map + map→odom TF + /rtabmap/odom) # Localization: RTAB-Map (publishes /map + map→odom TF + /rtabmap/odom)
# → No AMCL, no map_server needed. # → No AMCL, no map_server needed.
@ -120,14 +120,14 @@ controller_server:
FollowPath: FollowPath:
plugin: "dwb_core::DWBLocalPlanner" plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: false debug_trajectory_details: false
# Velocity limits # Velocity limits (conservative for FC + hoverboard ESC, Issue #475)
min_vel_x: -0.25 # allow limited reverse min_vel_x: -0.15 # allow limited reverse (half of max forward)
min_vel_y: 0.0 min_vel_y: 0.0
max_vel_x: 1.0 max_vel_x: 0.3 # conservative: 0.3 m/s linear
max_vel_y: 0.0 max_vel_y: 0.0
max_vel_theta: 1.5 max_vel_theta: 0.5 # conservative: 0.5 rad/s angular
min_speed_xy: 0.0 min_speed_xy: 0.0
max_speed_xy: 1.0 max_speed_xy: 0.3 # match max_vel_x
min_speed_theta: 0.0 min_speed_theta: 0.0
# Acceleration limits (differential drive) # Acceleration limits (differential drive)
acc_lim_x: 2.5 acc_lim_x: 2.5
@ -243,14 +243,15 @@ waypoint_follower:
waypoint_pause_duration: 200 waypoint_pause_duration: 200
# ── Velocity Smoother ──────────────────────────────────────────────────────── # ── Velocity Smoother ────────────────────────────────────────────────────────
# Conservative speeds for FC + hoverboard ESC (Issue #475)
velocity_smoother: velocity_smoother:
ros__parameters: ros__parameters:
use_sim_time: false use_sim_time: false
smoothing_frequency: 20.0 smoothing_frequency: 20.0
scale_velocities: false scale_velocities: false
feedback: "OPEN_LOOP" feedback: "OPEN_LOOP"
max_velocity: [1.0, 0.0, 1.5] max_velocity: [0.3, 0.0, 0.5] # conservative: 0.3 m/s linear, 0.5 rad/s angular
min_velocity: [-0.25, 0.0, -1.5] min_velocity: [-0.15, 0.0, -0.5]
max_accel: [2.5, 0.0, 3.2] max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2] max_decel: [-2.5, 0.0, -3.2]
odom_topic: /rtabmap/odom odom_topic: /rtabmap/odom
@ -271,7 +272,7 @@ local_costmap:
width: 3 width: 3
height: 3 height: 3
resolution: 0.05 resolution: 0.05
robot_radius: 0.15 robot_radius: 0.22
# Footprint: [x, y] in base_link frame, in counterclockwise order # Footprint: [x, y] in base_link frame, in counterclockwise order
# Robot footprint ~0.4m x 0.4m, with 2m lookahead buffer for controller stability # Robot footprint ~0.4m x 0.4m, with 2m lookahead buffer for controller stability
footprint: "[[-0.2, -0.2], [-0.2, 0.2], [0.2, 0.2], [0.2, -0.2]]" footprint: "[[-0.2, -0.2], [-0.2, 0.2], [0.2, 0.2], [0.2, -0.2]]"
@ -342,7 +343,7 @@ global_costmap:
publish_frequency: 1.0 publish_frequency: 1.0
global_frame: map global_frame: map
robot_base_frame: base_link robot_base_frame: base_link
robot_radius: 0.15 robot_radius: 0.22
# Footprint: [x, y] in base_link frame, in counterclockwise order # Footprint: [x, y] in base_link frame, in counterclockwise order
footprint: "[[-0.2, -0.2], [-0.2, 0.2], [0.2, 0.2], [0.2, -0.2]]" footprint: "[[-0.2, -0.2], [-0.2, 0.2], [0.2, 0.2], [0.2, -0.2]]"
resolution: 0.05 resolution: 0.05