sl-mechanical
fd742f6890
Implement conservative recovery behaviors for autonomous navigation on FC + Hoverboard ESC drivetrain. Recovery Sequence (round-robin, 6 retries): 1. Clear costmaps (local + global) 2. Spin 90° @ 0.5 rad/s max (conservative for self-balancer) 3. Wait 5 seconds (allow dynamic obstacles to move) 4. Backup 0.3m @ 0.1 m/s (deadlock escape, very conservative) Configuration: - backup: 0.3m reverse, 0.1 m/s speed, 5s timeout - spin: 90° rotation, 0.5 rad/s max angular velocity - wait: 5-second pause for obstacle clearing - progress_checker: 20cm minimum movement threshold in 10s window Safety: - E-stop (Issue #459) takes priority over recovery behaviors - Emergency stop system runs independently on STM32 firmware - Conservative speeds for FC + Hoverboard ESC stability Files Modified: - jetson/config/nav2_params.yaml: behavior_server parameters - jetson/ros2_ws/src/saltybot_bringup/behavior_trees/navigate_to_pose_with_recovery.xml: BT updates - jetson/config/RECOVERY_BEHAVIORS.md: Configuration documentation Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
392 lines
14 KiB
YAML
392 lines
14 KiB
YAML
# Nav2 parameters — SaltyBot (Jetson Orin Nano Super / ROS2 Humble)
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#
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# Robot: differential-drive self-balancing two-wheeler
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# robot_radius: 0.15 m
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# max_vel_x: 1.0 m/s
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# max_vel_theta: 1.5 rad/s
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#
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# Localization: RTAB-Map (publishes /map + map→odom TF + /rtabmap/odom)
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# → No AMCL, no map_server needed.
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#
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# Sensors:
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# /scan — RPLIDAR A1M8 (obstacle layer)
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# /camera/depth/color/points — RealSense D435i (voxel layer)
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#
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# Output: /cmd_vel (Twist) — STM32 bridge consumes this topic.
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bt_navigator:
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ros__parameters:
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use_sim_time: false
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global_frame: map
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robot_base_frame: base_link
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odom_topic: /rtabmap/odom
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bt_loop_duration: 10
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default_server_timeout: 20
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wait_for_service_timeout: 1000
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action_server_result_timeout: 900.0
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navigators: ['navigate_to_pose', 'navigate_through_poses']
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navigate_to_pose:
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plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
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navigate_through_poses:
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plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
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# default_bt_xml_filename is set at launch time via nav2.launch.py
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error_code_names:
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- compute_path_error_code
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- follow_path_error_code
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plugin_lib_names:
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- nav2_compute_path_to_pose_action_bt_node
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- nav2_compute_path_through_poses_action_bt_node
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- nav2_smooth_path_action_bt_node
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- nav2_follow_path_action_bt_node
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- nav2_spin_action_bt_node
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- nav2_wait_action_bt_node
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- nav2_assisted_teleop_action_bt_node
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- nav2_back_up_action_bt_node
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- nav2_drive_on_heading_bt_node
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- nav2_clear_costmap_service_bt_node
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- nav2_is_stuck_condition_bt_node
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- nav2_goal_reached_condition_bt_node
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- nav2_goal_updated_condition_bt_node
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- nav2_globally_updated_goal_condition_bt_node
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- nav2_is_path_valid_condition_bt_node
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- nav2_initial_pose_received_condition_bt_node
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- nav2_reinitialize_global_localization_service_bt_node
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- nav2_rate_controller_bt_node
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- nav2_distance_controller_bt_node
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- nav2_speed_controller_bt_node
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- nav2_truncate_path_action_bt_node
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- nav2_truncate_path_local_action_bt_node
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- nav2_goal_updater_node_bt_node
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- nav2_recovery_node_bt_node
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- nav2_pipeline_sequence_bt_node
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- nav2_round_robin_node_bt_node
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- nav2_transform_available_condition_bt_node
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- nav2_time_expired_condition_bt_node
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- nav2_path_expiring_timer_condition
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- nav2_distance_traveled_condition_bt_node
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- nav2_single_trigger_bt_node
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- nav2_goal_updated_controller_bt_node
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- nav2_navigate_through_poses_action_bt_node
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- nav2_navigate_to_pose_action_bt_node
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- nav2_remove_passed_goals_action_bt_node
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- nav2_planner_selector_bt_node
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- nav2_controller_selector_bt_node
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- nav2_goal_checker_selector_bt_node
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- nav2_controller_cancel_bt_node
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- nav2_path_longer_on_approach_bt_node
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- nav2_wait_cancel_bt_node
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- nav2_spin_cancel_bt_node
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- nav2_back_up_cancel_bt_node
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- nav2_assisted_teleop_cancel_bt_node
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- nav2_drive_on_heading_cancel_bt_node
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bt_navigator_navigate_through_poses_rclcpp_node:
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ros__parameters:
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use_sim_time: false
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bt_navigator_navigate_to_pose_rclcpp_node:
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ros__parameters:
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use_sim_time: false
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# ── Controller Server (DWB — local trajectory follower) ─────────────────────
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controller_server:
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ros__parameters:
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use_sim_time: false
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controller_frequency: 10.0 # Hz — Orin can handle 10Hz easily
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min_x_velocity_threshold: 0.001
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min_y_velocity_threshold: 0.5 # not holonomic — effectively disabled
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min_theta_velocity_threshold: 0.001
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failure_tolerance: 0.3
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progress_checker_plugin: "progress_checker"
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goal_checker_plugins: ["general_goal_checker"]
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controller_plugins: ["FollowPath"]
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progress_checker:
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plugin: "nav2_controller::SimpleProgressChecker"
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required_movement_radius: 0.2 # Issue #479: Minimum 20cm movement to detect progress
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movement_time_allowance: 10.0 # 10 second window to detect movement, then attempt recovery
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general_goal_checker:
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stateful: true
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plugin: "nav2_controller::SimpleGoalChecker"
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xy_goal_tolerance: 0.25
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yaw_goal_tolerance: 0.25
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FollowPath:
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plugin: "dwb_core::DWBLocalPlanner"
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debug_trajectory_details: false
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# Velocity limits
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min_vel_x: -0.25 # allow limited reverse
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min_vel_y: 0.0
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max_vel_x: 1.0
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max_vel_y: 0.0
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max_vel_theta: 1.5
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min_speed_xy: 0.0
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max_speed_xy: 1.0
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min_speed_theta: 0.0
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# Acceleration limits (differential drive)
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acc_lim_x: 2.5
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acc_lim_y: 0.0
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acc_lim_theta: 3.2
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decel_lim_x: -2.5
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decel_lim_y: 0.0
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decel_lim_theta: -3.2
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# Trajectory sampling
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vx_samples: 20
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vy_samples: 5
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vtheta_samples: 20
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sim_time: 1.7
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linear_granularity: 0.05
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angular_granularity: 0.025
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transform_tolerance: 0.2
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xy_goal_tolerance: 0.25
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trans_stopped_velocity: 0.25
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short_circuit_trajectory_evaluation: true
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stateful: true
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critics:
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["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
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BaseObstacle.scale: 0.02
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PathAlign.scale: 32.0
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PathAlign.forward_point_distance: 0.1
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GoalAlign.scale: 24.0
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GoalAlign.forward_point_distance: 0.1
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PathDist.scale: 32.0
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GoalDist.scale: 24.0
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RotateToGoal.scale: 32.0
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RotateToGoal.slowing_factor: 5.0
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RotateToGoal.lookahead_time: -1.0
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# ── Planner Server (NavFn global path planner) ───────────────────────────────
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planner_server:
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ros__parameters:
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use_sim_time: false
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expected_planner_frequency: 20.0
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planner_plugins: ["GridBased"]
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GridBased:
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plugin: "nav2_navfn_planner/NavfnPlanner"
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tolerance: 0.5
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use_astar: false
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allow_unknown: true
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# ── Smoother Server ──────────────────────────────────────────────────────────
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smoother_server:
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ros__parameters:
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use_sim_time: false
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smoother_plugins: ["simple_smoother"]
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simple_smoother:
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plugin: "nav2_smoother::SimpleSmoother"
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tolerance: 1.0e-10
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max_its: 1000
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do_refinement: true
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# ── Behavior Server (recovery behaviors) ────────────────────────────────────
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# Issue #479: Recovery behaviors with conservative speed/distance limits for FC+Hoverboard
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# ESC priority: E-stop (Issue #459) takes priority over any recovery behavior.
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behavior_server:
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ros__parameters:
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use_sim_time: false
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local_costmap_topic: local_costmap/costmap_raw
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global_costmap_topic: global_costmap/costmap_raw
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local_footprint_topic: local_costmap/published_footprint
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global_footprint_topic: global_costmap/published_footprint
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cycle_frequency: 10.0
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behavior_plugins: ["spin", "backup", "wait"]
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# Spin recovery: In-place 90° rotation to escape local deadlock
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spin:
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plugin: "nav2_behaviors/Spin"
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spin_dist: 1.5708 # 90 degrees (π/2 radians)
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max_rotational_vel: 0.5 # Conservative: 0.5 rad/s for self-balancer stability
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min_rotational_vel: 0.25 # Minimum angular velocity
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rotational_acc_lim: 1.6 # Half of max (3.2) for smooth accel on self-balancer
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time_allowance: 10.0 # max 10 seconds to complete 90° rotation
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# Backup recovery: Reverse 0.3m at 0.1 m/s to escape obstacles
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# Conservative for FC (Flux Capacitor) + Hoverboard ESC drivetrain
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backup:
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plugin: "nav2_behaviors/BackUp"
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backup_dist: 0.3 # Reverse 0.3 meters (safe distance for deadlock escape)
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backup_speed: 0.1 # Very conservative: 0.1 m/s reverse
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max_backup_vel: 0.15 # Absolute max reverse velocity
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min_backup_vel: 0.05 # Minimum backup velocity threshold
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time_allowance: 5.0 # max 5 seconds (0.3m at 0.1m/s = 3s normal)
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# Wait recovery: Pause 5 seconds to let obstacles move away
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wait:
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plugin: "nav2_behaviors/Wait"
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wait_duration: 5.0 # 5 second pause
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local_frame: odom
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global_frame: map
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robot_base_frame: base_link
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transform_tolerance: 0.1
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simulate_ahead_time: 2.0
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max_rotational_vel: 0.5 # Conservative: self-balancer stability limit
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min_rotational_vel: 0.25
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rotational_acc_lim: 1.6 # Half of main limit for recovery behaviors
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# ── Waypoint Follower ────────────────────────────────────────────────────────
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waypoint_follower:
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ros__parameters:
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use_sim_time: false
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loop_rate: 20
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stop_on_failure: false
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waypoint_task_executor_plugin: "wait_at_waypoint"
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wait_at_waypoint:
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plugin: "nav2_waypoint_follower::WaitAtWaypoint"
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enabled: true
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waypoint_pause_duration: 200
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# ── Velocity Smoother ────────────────────────────────────────────────────────
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velocity_smoother:
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ros__parameters:
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use_sim_time: false
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smoothing_frequency: 20.0
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scale_velocities: false
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feedback: "OPEN_LOOP"
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max_velocity: [1.0, 0.0, 1.5]
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min_velocity: [-0.25, 0.0, -1.5]
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max_accel: [2.5, 0.0, 3.2]
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max_decel: [-2.5, 0.0, -3.2]
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odom_topic: /rtabmap/odom
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odom_duration: 0.1
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deadband_velocity: [0.0, 0.0, 0.0]
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velocity_timeout: 1.0
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# ── Local Costmap ────────────────────────────────────────────────────────────
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local_costmap:
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local_costmap:
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ros__parameters:
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use_sim_time: false
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update_frequency: 10.0 # Hz — Orin can sustain 10Hz
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publish_frequency: 5.0
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global_frame: odom
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robot_base_frame: base_link
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rolling_window: true
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width: 3
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height: 3
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resolution: 0.05
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robot_radius: 0.15
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plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
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obstacle_layer:
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plugin: "nav2_costmap_2d::ObstacleLayer"
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enabled: true
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observation_sources: scan surround_cameras
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scan:
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topic: /scan
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max_obstacle_height: 0.80
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clearing: true
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marking: true
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data_type: "LaserScan"
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raytrace_max_range: 8.0
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raytrace_min_range: 0.0
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obstacle_max_range: 7.5
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obstacle_min_range: 0.0
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# 4× IMX219 camera-detected obstacles (chairs, glass, people)
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surround_cameras:
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topic: /surround_vision/obstacles
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min_obstacle_height: 0.05
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max_obstacle_height: 1.50
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clearing: false
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marking: true
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data_type: "PointCloud2"
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raytrace_max_range: 3.5
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raytrace_min_range: 0.0
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obstacle_max_range: 3.0
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obstacle_min_range: 0.0
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voxel_layer:
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plugin: "nav2_costmap_2d::VoxelLayer"
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enabled: true
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publish_voxel_map: false
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origin_z: 0.0
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z_resolution: 0.05
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z_voxels: 16
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max_obstacle_height: 0.80
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mark_threshold: 0
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observation_sources: depth_camera
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depth_camera:
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topic: /camera/depth/color/points
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min_obstacle_height: 0.05 # above floor level
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max_obstacle_height: 0.80
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marking: true
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clearing: true
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data_type: "PointCloud2"
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raytrace_max_range: 4.0
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raytrace_min_range: 0.0
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obstacle_max_range: 3.5
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obstacle_min_range: 0.0
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 3.0
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inflation_radius: 0.55 # robot_radius (0.15) + 0.40m padding
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always_send_full_costmap: false
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# ── Global Costmap ───────────────────────────────────────────────────────────
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global_costmap:
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global_costmap:
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ros__parameters:
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use_sim_time: false
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update_frequency: 5.0
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publish_frequency: 1.0
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global_frame: map
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robot_base_frame: base_link
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robot_radius: 0.15
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resolution: 0.05
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track_unknown_space: true
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plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
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static_layer:
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plugin: "nav2_costmap_2d::StaticLayer"
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map_subscribe_transient_local: true # for RTAB-Map's transient-local /map
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obstacle_layer:
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plugin: "nav2_costmap_2d::ObstacleLayer"
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enabled: true
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observation_sources: scan surround_cameras
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scan:
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topic: /scan
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max_obstacle_height: 0.80
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clearing: true
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marking: true
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data_type: "LaserScan"
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raytrace_max_range: 8.0
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raytrace_min_range: 0.0
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obstacle_max_range: 7.5
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obstacle_min_range: 0.0
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surround_cameras:
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topic: /surround_vision/obstacles
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min_obstacle_height: 0.05
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max_obstacle_height: 1.50
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clearing: false
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marking: true
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data_type: "PointCloud2"
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raytrace_max_range: 3.5
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raytrace_min_range: 0.0
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obstacle_max_range: 3.0
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obstacle_min_range: 0.0
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inflation_layer:
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plugin: "nav2_costmap_2d::InflationLayer"
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cost_scaling_factor: 3.0
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inflation_radius: 0.55
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always_send_full_costmap: false
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# ── Map Server / Map Saver (not used — RTAB-Map provides /map) ───────────────
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map_server:
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ros__parameters:
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use_sim_time: false
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yaml_filename: ""
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map_saver:
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ros__parameters:
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use_sim_time: false
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save_map_timeout: 5.0
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free_thresh_default: 0.25
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occupied_thresh_default: 0.65
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map_subscribe_transient_local: true
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