sl-perception
772a70b545
Integrates Nav2 autonomous navigation stack with RTAB-Map SLAM on Orin
Nano Super. No AMCL/map_server needed — RTAB-Map provides /map + TF.
New files:
- jetson/config/nav2_params.yaml DWB controller,
NavFn planner, RPLIDAR obstacle layer, RealSense voxel layer;
10Hz local / 5Hz global costmap; robot_radius 0.15m, max_vel 1.0 m/s
- jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py
wraps nav2_bringup navigation_launch with saltybot params + BT XML
- jetson/ros2_ws/src/saltybot_bringup/behavior_trees/
navigate_to_pose_with_recovery.xml BT: replan@1Hz, DWB follow,
recovery: clear maps → spin 90° → wait 5s → back up 0.30m
Updated:
- jetson/docker-compose.yml add saltybot-nav2 service
(depends_on: saltybot-ros2)
- jetson/ros2_ws/src/saltybot_bringup/setup.py install behavior_trees/*.xml
- jetson/ros2_ws/src/saltybot_bringup/package.xml add rtabmap_ros + nav2_bringup
- projects/saltybot/SLAM-SETUP-PLAN.md Phase 2b ✅ Done
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
352 lines
12 KiB
YAML
352 lines
12 KiB
YAML
# 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: 0.5
|
|
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
|
|
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
|
|
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
|
|
|
|
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
|
|
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
|
|
|
|
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
|