diff --git a/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml b/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml new file mode 100644 index 0000000..cd3ae04 --- /dev/null +++ b/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml @@ -0,0 +1,393 @@ +# Nav2 parameters — SaltyBot (Jetson Orin Nano Super / ROS2 Humble) +# +# Robot: differential-drive self-balancing two-wheeler +# robot_radius: 0.15 m (~0.2m with margin) +# footprint: 0.4 x 0.4 m +# max_vel_x: 1.0 m/s +# max_vel_theta: 1.5 rad/s +# +# Localization: RTAB-Map (publishes /map + map→odom TF + /rtabmap/odom) +# → No AMCL, no map_server needed. +# +# Sensors (Issue #478 — Costmap configuration): +# /scan — RPLIDAR A1M8 360° LaserScan (obstacle) +# /depth_scan — RealSense D435i depth_to_laserscan (obstacle) +# /camera/depth/color/points — RealSense D435i PointCloud2 (voxel) +# +# Inflation: +# inflation_radius: 0.3m (robot_radius 0.15m + 0.15m padding) +# +# Output: /cmd_vel (Twist) — STM32 bridge consumes this topic. + +bt_navigator: + ros__parameters: + use_sim_time: false + global_frame: map + robot_base_frame: base_link + odom_topic: /rtabmap/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_bt_xml_filename is set at launch time via nav2.launch.py + error_code_names: + - compute_path_error_code + - follow_path_error_code + 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_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 + +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 (DWB — local trajectory follower) ───────────────────── +controller_server: + ros__parameters: + use_sim_time: false + controller_frequency: 10.0 # Hz — Orin can handle 10Hz easily + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 # not holonomic — effectively disabled + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] + controller_plugins: ["FollowPath"] + + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + + general_goal_checker: + stateful: true + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: false + # Velocity limits + min_vel_x: -0.25 # allow limited reverse + min_vel_y: 0.0 + max_vel_x: 1.0 + max_vel_y: 0.0 + max_vel_theta: 1.5 + min_speed_xy: 0.0 + max_speed_xy: 1.0 + min_speed_theta: 0.0 + # Acceleration limits (differential drive) + 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 + # Trajectory sampling + 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 + +# ── Planner Server (NavFn global path planner) ─────────────────────────────── +planner_server: + ros__parameters: + use_sim_time: false + expected_planner_frequency: 20.0 + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +# ── Smoother Server ────────────────────────────────────────────────────────── +smoother_server: + ros__parameters: + use_sim_time: false + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: true + +# ── Behavior Server (recovery behaviors) ──────────────────────────────────── +behavior_server: + ros__parameters: + use_sim_time: false + 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" + backup: + plugin: "nav2_behaviors/BackUp" + drive_on_heading: + plugin: "nav2_behaviors/DriveOnHeading" + wait: + plugin: "nav2_behaviors/Wait" + assisted_teleop: + plugin: "nav2_behaviors/AssistedTeleop" + local_frame: odom + global_frame: map + robot_base_frame: base_link + transform_tolerance: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +# ── Waypoint Follower ──────────────────────────────────────────────────────── +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" + enabled: true + waypoint_pause_duration: 200 + +# ── Velocity Smoother ──────────────────────────────────────────────────────── +velocity_smoother: + ros__parameters: + use_sim_time: false + smoothing_frequency: 20.0 + scale_velocities: false + feedback: "OPEN_LOOP" + max_velocity: [1.0, 0.0, 1.5] + min_velocity: [-0.25, 0.0, -1.5] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: /rtabmap/odom + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + +# ── Local Costmap ──────────────────────────────────────────────────────────── +local_costmap: + local_costmap: + ros__parameters: + use_sim_time: false + update_frequency: 10.0 # Hz — Orin can sustain 10Hz + publish_frequency: 5.0 + global_frame: odom + robot_base_frame: base_link + rolling_window: true + width: 3 # 3m x 3m rolling window + height: 3 + resolution: 0.05 + robot_radius: 0.15 + footprint: "[[-0.2, -0.2], [-0.2, 0.2], [0.2, 0.2], [0.2, -0.2]]" # 0.4m x 0.4m + plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"] + + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: true + observation_sources: scan surround_cameras + scan: + topic: /scan + max_obstacle_height: 0.80 + clearing: true + marking: true + data_type: "LaserScan" + raytrace_max_range: 8.0 + raytrace_min_range: 0.0 + obstacle_max_range: 7.5 + obstacle_min_range: 0.0 + # 4× IMX219 camera-detected obstacles (chairs, glass, people) + surround_cameras: + topic: /surround_vision/obstacles + min_obstacle_height: 0.05 + max_obstacle_height: 1.50 + clearing: false + marking: true + data_type: "PointCloud2" + raytrace_max_range: 3.5 + raytrace_min_range: 0.0 + obstacle_max_range: 3.0 + obstacle_min_range: 0.0 + + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: true + publish_voxel_map: false + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 0.80 + mark_threshold: 0 + observation_sources: depth_camera + depth_camera: + topic: /camera/depth/color/points + min_obstacle_height: 0.05 # above floor level + max_obstacle_height: 0.80 + marking: true + clearing: true + data_type: "PointCloud2" + raytrace_max_range: 4.0 + raytrace_min_range: 0.0 + obstacle_max_range: 3.5 + obstacle_min_range: 0.0 + + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.3 # robot_radius (0.15) + 0.15m padding + + always_send_full_costmap: false + +# ── Global Costmap ─────────────────────────────────────────────────────────── +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: false + update_frequency: 5.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + robot_radius: 0.15 + footprint: "[[-0.2, -0.2], [-0.2, 0.2], [0.2, 0.2], [0.2, -0.2]]" # 0.4m x 0.4m + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: true # for RTAB-Map's transient-local /map + + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: true + # Issue #478: RPLIDAR + RealSense depth_scan + observation_sources: scan depth_scan surround_cameras + scan: + topic: /scan + max_obstacle_height: 0.80 + clearing: true + marking: true + data_type: "LaserScan" + raytrace_max_range: 8.0 + raytrace_min_range: 0.0 + obstacle_max_range: 7.5 + obstacle_min_range: 0.0 + # RealSense D435i depth_to_laserscan (synthetic LaserScan from depth) + depth_scan: + topic: /depth_scan + max_obstacle_height: 0.80 + clearing: true + marking: true + data_type: "LaserScan" + raytrace_max_range: 6.0 + raytrace_min_range: 0.1 + obstacle_max_range: 5.5 + obstacle_min_range: 0.0 + surround_cameras: + topic: /surround_vision/obstacles + min_obstacle_height: 0.05 + max_obstacle_height: 1.50 + clearing: false + marking: true + data_type: "PointCloud2" + raytrace_max_range: 3.5 + raytrace_min_range: 0.0 + obstacle_max_range: 3.0 + obstacle_min_range: 0.0 + + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.3 # robot_radius (0.15) + 0.15m padding + + always_send_full_costmap: false + +# ── Map Server / Map Saver (not used — RTAB-Map provides /map) ─────────────── +map_server: + ros__parameters: + use_sim_time: false + yaml_filename: "" + +map_saver: + ros__parameters: + use_sim_time: false + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: true