# Nav2 parameters — SaltyBot (Jetson Orin Nano Super / ROS2 Humble)
#
# Robot: differential-drive self-balancing two-wheeler
#   robot_radius:   0.15 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:
#   /scan                    — RPLIDAR A1M8  (obstacle layer)
#   /camera/depth/color/points — RealSense D435i (voxel layer)
#
# 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: 0.2        # Issue #479: Minimum 20cm movement to detect progress
      movement_time_allowance: 10.0        # 10 second window to detect movement, then attempt recovery

    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) ────────────────────────────────────
# Issue #479: Recovery behaviors with conservative speed/distance limits for FC+Hoverboard
# ESC priority: E-stop (Issue #459) takes priority over any recovery behavior.
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", "wait"]

    # Spin recovery: In-place 90° rotation to escape local deadlock
    spin:
      plugin: "nav2_behaviors/Spin"
      spin_dist: 1.5708                    # 90 degrees (π/2 radians)
      max_rotational_vel: 0.5              # Conservative: 0.5 rad/s for self-balancer stability
      min_rotational_vel: 0.25             # Minimum angular velocity
      rotational_acc_lim: 1.6              # Half of max (3.2) for smooth accel on self-balancer
      time_allowance: 10.0                 # max 10 seconds to complete 90° rotation

    # Backup recovery: Reverse 0.3m at 0.1 m/s to escape obstacles
    # Conservative for FC (Flux Capacitor) + Hoverboard ESC drivetrain
    backup:
      plugin: "nav2_behaviors/BackUp"
      backup_dist: 0.3                     # Reverse 0.3 meters (safe distance for deadlock escape)
      backup_speed: 0.1                    # Very conservative: 0.1 m/s reverse
      max_backup_vel: 0.15                 # Absolute max reverse velocity
      min_backup_vel: 0.05                 # Minimum backup velocity threshold
      time_allowance: 5.0                  # max 5 seconds (0.3m at 0.1m/s = 3s normal)

    # Wait recovery: Pause 5 seconds to let obstacles move away
    wait:
      plugin: "nav2_behaviors/Wait"
      wait_duration: 5.0                   # 5 second pause

    local_frame: odom
    global_frame: map
    robot_base_frame: base_link
    transform_tolerance: 0.1
    simulate_ahead_time: 2.0
    max_rotational_vel: 0.5                # Conservative: self-balancer stability limit
    min_rotational_vel: 0.25
    rotational_acc_lim: 1.6                # Half of main limit for recovery behaviors

# ── 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
      height: 3
      resolution: 0.05
      robot_radius: 0.15
      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: 0.55          # robot_radius (0.15) + 0.40m 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
      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
        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
        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: 0.55

      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