[{"data":1,"prerenderedAt":5028},["ShallowReactive",2],{"wiki-page-/en-us/wiki/2023-12-30-ros2-tutorial/ch17-ji-qi-ren-dao-hang-navigation2-shi-ti-pian":3,"wiki-doc-items-/en-us/wiki/2023-12-30-ros2-tutorial/ch17-ji-qi-ren-dao-hang-navigation2-shi-ti-pian":4660,"language-switcher-data-/en-us/wiki/2023-12-30-ros2-tutorial/ch17-ji-qi-ren-dao-hang-navigation2-shi-ti-pian":5012,"wiki-i18n-paths-/en-us/wiki/2023-12-30-ros2-tutorial/ch17-ji-qi-ren-dao-hang-navigation2-shi-ti-pian":5027},{"id":4,"title":5,"body":6,"canonicalPath":4641,"chapter":4642,"chapterSort":4643,"date":4644,"description":100,"docI18nKey":4645,"docKey":4646,"docRoot":4647,"docTitle":4648,"extension":4649,"i18nKey":4650,"isBlogPost":4651,"isWikiDoc":1000,"isWikiIndex":4651,"layout":4652,"legacyPath":4652,"locale":4653,"localeSlug":4654,"meta":4655,"navigation":1000,"path":4641,"seo":4656,"sourcePath":4657,"sourceStem":4650,"stem":4658,"wikiDepth":149,"__hash__":4659},"content/_i18n/en-us/wiki/2023-12-30-ros2-tutorial/ch17-机器人导航Navigation2(实体篇).md","Robot Navigation with Navigation2 (Physical Robot)",{"type":7,"value":8,"toc":4632},"minimark",[9,14,33,37,46,52,56,62,66,70,82,85,88,95,102,105,110,113,118,121,126,129,134,137,171,176,181,186,189,192,195,200,203,208,213,216,221,228,233,236,241,244,249,252,260,264,268,301,306,311,315,320,337,341,347,350,355,362,367,370,373,379,384,387,392,395,406,411,416,421,426,431,435,438,443,701,706,969,972,979,1415,1422,1685,1692,4624,4628],[10,11,13],"h3",{"id":12},"preparation-work","Preparation Work",[15,16,17,21,24,27,30],"ol",{},[18,19,20],"li",{},"physical object",[18,22,23],{},"Already ran through robot navigation Navigation2 (Simulation) once.",[18,25,26],{},"This chapter only covers the general implementation approach. Generally, once you understand the simulation section, reading through the main ideas of the physical section will be enough to grasp how to implement it.",[18,28,29],{},"This chapter is not from Zhao Xuzuo's tutorial; it is my own implementation approach, provided for reference only. Teacher Zhao may have a better method, but he hasn't released the hardware section tutorial yet.",[18,31,32],{},"This chapter uses a 4-wheel Mecanum wheel implementation, for reference only.",[34,35,36],"p",{},"All of the code below is in this GitHub repository:",[34,38,39],{},[40,41,45],"a",{"href":42,"rel":43},"https://github.com/CyberNaviRobot/CyberRobot%5C_ROS2%5C_WS",[44],"nofollow","https://github.com/CyberNaviRobot/CyberRobot\\_ROS2\\_WS",[34,47,48],{},[49,50,51],"em",{},"The tutorials below only include implementation ideas and won't include source code, so it's recommended to clone this repository and check the source code.",[10,53,55],{"id":54},"navigation-parameter-reference","Navigation Parameter Reference",[34,57,58],{},[40,59,60],{"href":60,"rel":61},"https://docs.nav2.org/configuration/index.html",[44],[10,63,65],{"id":64},"slam-localization-and-mapping","SLAM localization and mapping",[67,68,69],"h4",{"id":69},"slam_toolbox",[34,71,72,73,77,78,81],{},"Based on the node description above, we need to subscribe to ",[74,75,76],"code",{},"/scan"," and ",[74,79,80],{},"/tf",".",[34,83,84],{},"Generally, LiDAR manuals provide source code for publishing /scan, so please refer to your hardware's manual for this.",[34,86,87],{},"/tf requires us to publish the transformation from odom_frame to base_frame. We must use C++ code to dynamically publish the coordinate transformation for odom.",[34,89,90,91,94],{},"However, here you need to publish ",[74,92,93],{},"/odom"," in order to know the robot's position and orientation, so that the robot's location in the map can be inferred.",[34,96,97],{},[98,99],"img",{"alt":100,"src":101},"","https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1806.webp",[34,103,104],{},"Ensure that all parameters of the SLAM Toolbox are set correctly, especially the coordinate systems and similar settings. Other parameters can be fine-tuned according to the documentation.",[34,106,107],{},[98,108],{"alt":100,"src":109},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1807.webp",[34,111,112],{},"Ensure the topic published by the LiDAR is /scan.",[34,114,115],{},[98,116],{"alt":100,"src":117},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1808.webp",[34,119,120],{},"First, start the LiDAR.",[34,122,123],{},[98,124],{"alt":100,"src":125},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1809.webp",[34,127,128],{},"Restart the URDF model and publish TF at the same time.",[34,130,131],{},[98,132],{"alt":100,"src":133},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1810.webp",[34,135,136],{},"Finally, start SLAM.",[138,139,143],"pre",{"className":140,"code":141,"language":142,"meta":100,"style":100},"language-bash shiki shiki-themes github-light github-dark","ros2 launch mycar_slam_slam_toolbox online_sync_launch.py use_sim_time:=false\n","bash",[74,144,145],{"__ignoreMap":100},[146,147,150,154,158,161,164,167],"span",{"class":148,"line":149},"line",1,[146,151,153],{"class":152},"sScJk","ros2",[146,155,157],{"class":156},"sZZnC"," launch",[146,159,160],{"class":156}," mycar_slam_slam_toolbox",[146,162,163],{"class":156}," online_sync_launch.py",[146,165,166],{"class":156}," use_sim_time:=",[146,168,170],{"class":169},"sj4cs","false\n",[34,172,173],{},[98,174],{"alt":100,"src":175},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1811.webp",[34,177,178],{},[98,179],{"alt":100,"src":180},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1812.webp",[34,182,183],{},[98,184],{"alt":100,"src":185},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1813.webp",[67,187,188],{"id":188},"cartographer",[34,190,191],{},"According to the Cartographer documentation, we only need /scan and /odom.",[34,193,194],{},"First, open the serial port receiving node to receive data transmitted from the STM32.",[34,196,197],{},[98,198],{"alt":100,"src":199},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1814.webp",[34,201,202],{},"Then open the odometry node and publish the odom topic.",[34,204,205],{},[98,206],{"alt":100,"src":207},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1815.webp",[34,209,210],{},[98,211],{"alt":100,"src":212},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1816.webp",[34,214,215],{},"Publish TF again. You can directly use launch to start robot_state_publisher and joint_state_publisher, and open the URDF model to publish TF.",[34,217,218],{},[98,219],{"alt":100,"src":220},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1817.webp",[34,222,223,224,227],{},"Start the LiDAR node and publish the ",[74,225,226],{},"scan"," topic.",[34,229,230],{},[98,231],{"alt":100,"src":232},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1818.webp",[34,234,235],{},"After /odom, /scan, and TF are all published, open Cartographer for mapping, then check whether the TF for map has been published.",[34,237,238],{},[98,239],{"alt":100,"src":240},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1819.webp",[34,242,243],{},"Check the TF tree as follows:",[34,245,246],{},[98,247],{"alt":100,"src":248},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1820.webp",[34,250,251],{},"The mapping is as follows",[34,253,254,257],{},[98,255],{"alt":100,"src":256},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1821.webp",[98,258],{"alt":100,"src":259},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1822.webp",[10,261,263],{"id":262},"map-service","Map service",[67,265,267],{"id":266},"save-the-map-serialization","Save the map (serialization)",[138,269,271],{"className":140,"code":270,"language":142,"meta":100,"style":100},"mkdir ./map\nros2 run nav2_map_server map_saver_cli -f map/my_map\n",[74,272,273,281],{"__ignoreMap":100},[146,274,275,278],{"class":148,"line":149},[146,276,277],{"class":152},"mkdir",[146,279,280],{"class":156}," ./map\n",[146,282,284,286,289,292,295,298],{"class":148,"line":283},2,[146,285,153],{"class":152},[146,287,288],{"class":156}," run",[146,290,291],{"class":156}," nav2_map_server",[146,293,294],{"class":156}," map_saver_cli",[146,296,297],{"class":169}," -f",[146,299,300],{"class":156}," map/my_map\n",[34,302,303],{},[98,304],{"alt":100,"src":305},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1823.webp",[34,307,308],{},[98,309],{"alt":100,"src":310},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1824.webp",[67,312,314],{"id":313},"read-the-map-deserialization","Read the map (deserialization)",[34,316,317],{},[98,318],{"alt":100,"src":319},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1825.webp",[138,321,323],{"className":140,"code":322,"language":142,"meta":100,"style":100},"ros2 launch mycar_map_server map_server.launch.py\n",[74,324,325],{"__ignoreMap":100},[146,326,327,329,331,334],{"class":148,"line":149},[146,328,153],{"class":152},[146,330,157],{"class":156},[146,332,333],{"class":156}," mycar_map_server",[146,335,336],{"class":156}," map_server.launch.py\n",[10,338,340],{"id":339},"amcl-adaptive-monte-carlo-localization","AMCL Adaptive Monte Carlo Localization",[34,342,343,344,227],{},"First, map data is needed to publish the ",[74,345,346],{},"/map",[34,348,349],{},"Second, LiDAR data is needed, specifically the /scan topic.",[34,351,352,353,227],{},"Then a coordinate transform message is needed, specifically the ",[74,354,80],{},[34,356,357,358,361],{},"Then the ",[74,359,360],{},"/initial_pose"," topic is the initial position on the 2D map. It can be published using rviz2 or via C++ code.",[34,363,364],{},[98,365],{"alt":100,"src":366},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1826.webp",[34,368,369],{},"Then you need to modify the parameters:",[34,371,372],{},"This is the official website for the parameter:",[34,374,375],{},[40,376,377],{"href":377,"rel":378},"https://docs.nav2.org/configuration/packages/configuring-amcl.html#",[44],[34,380,381],{},[98,382],{"alt":100,"src":383},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1827.webp",[34,385,386],{},"After modifying the Launch, then modify the params parameters.",[34,388,389],{},[98,390],{"alt":100,"src":391},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1828.webp",[34,393,394],{},"Here, OmniChassis refers not only to omnidirectional wheel chassis, but to the broader category of omnidirectional wheel chassis — for example, both omnidirectional wheel chassis and Mecanum wheel chassis fall under this category. Of course, you can also define custom chassis types.",[34,396,397,398,401,402,405],{},"Set ",[74,399,400],{},"use_sim_time"," to ",[74,403,404],{},"False"," at the top of this configuration file.",[34,407,408],{},[98,409],{"alt":100,"src":410},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1829.webp",[34,412,413],{},[98,414],{"alt":100,"src":415},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1830.webp",[34,417,418],{},[98,419],{"alt":100,"src":420},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1831.webp",[34,422,423],{},[98,424],{"alt":100,"src":425},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1832.webp",[34,427,428],{},[98,429],{"alt":100,"src":430},"https://cdn.tungchiahui.cn/tungwebsite/assets/images/2023/12/30/image1833.webp",[10,432,434],{"id":433},"navigation-server","Navigation Server",[34,436,437],{},"There are too many topics involved, so we've listed them in a table:",[15,439,440],{},[18,441,442],{},"Subscribed topics",[444,445,446,463],"table",{},[447,448,449],"thead",{},[450,451,452,457,460],"tr",{},[453,454,456],"th",{"align":455},"left","Topic",[453,458,459],{"align":455},"interface",[453,461,462],{"align":455},"description",[464,465,466,478,488,498,506,517,527,537,545,554,565,573,583,592,600,611,622,633,644,655,663,673,683,691],"tbody",{},[450,467,468,472,475],{},[469,470,471],"td",{"align":455},"/goal_pose",[469,473,474],{"align":455},"geometry_msgs/msg/PoseStamped",[469,476,477],{"align":455},"Navigation target point, used to trigger a navigation task",[450,479,480,482,485],{},[469,481,80],{"align":455},[469,483,484],{"align":455},"tf2_msgs/msg/TFMessage",[469,486,487],{"align":455},"Coordinate transformation message, used for conversion between different coordinate systems.",[450,489,490,492,495],{},[469,491,93],{"align":455},[469,493,494],{"align":455},"nav_msgs/msg/Odometry",[469,496,497],{"align":455},"Odometry data provides the robot's position and motion information.",[450,499,500,502,504],{},[469,501,456],{"align":455},[469,503,459],{"align":455},[469,505,462],{"align":455},[450,507,508,511,514],{},[469,509,510],{"align":455},"/global_costmap/footprint",[469,512,513],{"align":455},"geometry_msgs/msg/Polygon",[469,515,516],{"align":455},"The footprint information of a robot (or any mobile platform). The footprint is the shape of the space the robot occupies on the map, typically represented as a polygon.",[450,518,519,521,524],{},[469,520,346],{"align":455},[469,522,523],{"align":455},"nav_msgs/msg/OccupancyGrid",[469,525,526],{"align":455},"Publish the environment map, especially the Occupancy Grid Map used for navigation.",[450,528,529,531,534],{},[469,530,76],{"align":455},[469,532,533],{"align":455},"sensor_msgs/msg/LaserScan",[469,535,536],{"align":455},"Laser scanning data.",[450,538,539,541,543],{},[469,540,456],{"align":455},[469,542,459],{"align":455},[469,544,462],{"align":455},[450,546,547,549,551],{},[469,548,93],{"align":455},[469,550,494],{"align":455},[469,552,553],{"align":455},"The robot's odometry information, including position, velocity, and orientation.",[450,555,556,559,562],{},[469,557,558],{"align":455},"/speed_limit",[469,560,561],{"align":455},"nav2_msgs/msg/SpeedLimit",[469,563,564],{"align":455},"Speed limit information during navigation, used to dynamically adjust the robot's movement speed.",[450,566,567,569,571],{},[469,568,456],{"align":455},[469,570,459],{"align":455},[469,572,462],{"align":455},[450,574,575,578,580],{},[469,576,577],{"align":455},"/local_costmap/footprint",[469,579,513],{"align":455},[469,581,582],{"align":455},"Footprint polygon of a robot or mobile platform, used for local costmap calculation.",[450,584,585,587,589],{},[469,586,76],{"align":455},[469,588,533],{"align":455},[469,590,591],{"align":455},"Laser scanner scan data, used for environmental perception and obstacle avoidance.",[450,593,594,596,598],{},[469,595,456],{"align":455},[469,597,459],{"align":455},[469,599,462],{"align":455},[450,601,602,605,608],{},[469,603,604],{"align":455},"/clock",[469,606,607],{"align":455},"rosgraph_msgs/msg/Clock",[469,609,610],{"align":455},"ROS system time",[450,612,613,616,619],{},[469,614,615],{"align":455},"/cmd_vel_teleop",[469,617,618],{"align":455},"geometry_msgs/msg/Twist",[469,620,621],{"align":455},"Teleoperation commands for controlling the robot's linear and angular velocity.",[450,623,624,627,630],{},[469,625,626],{"align":455},"/local_costmap/costmap_raw",[469,628,629],{"align":455},"nav2_msgs/msg/Costmap",[469,631,632],{"align":455},"Raw data of the local costmap",[450,634,635,638,641],{},[469,636,637],{"align":455},"/local_costmap/published_footprint",[469,639,640],{"align":455},"geometry_msgs/msg/PolygonStamped",[469,642,643],{"align":455},"The robot's published footprint in the local costmap",[450,645,646,649,652],{},[469,647,648],{"align":455},"/preempt_teleop",[469,650,651],{"align":455},"std_msgs/msg/Empty",[469,653,654],{"align":455},"Teleoperation preemption signal, used to interrupt the current teleoperation.",[450,656,657,659,661],{},[469,658,456],{"align":455},[469,660,459],{"align":455},[469,662,462],{"align":455},[450,664,665,668,670],{},[469,666,667],{"align":455},"/global_costmap/costmap_raw",[469,669,629],{"align":455},[469,671,672],{"align":455},"Raw data of the global costmap, used for path planning.",[450,674,675,678,680],{},[469,676,677],{"align":455},"/global_costmap/published_footprint",[469,679,640],{"align":455},[469,681,682],{"align":455},"The robot's footprint representation in the global costmap",[450,684,685,687,689],{},[469,686,456],{"align":455},[469,688,459],{"align":455},[469,690,462],{"align":455},[450,692,693,696,698],{},[469,694,695],{"align":455},"/cmd_vel_nav",[469,697,618],{"align":455},[469,699,700],{"align":455},"Topic for receiving velocity control commands from other nodes",[15,702,703],{"start":283},[18,704,705],{},"Published topics",[444,707,708,718],{},[447,709,710],{},[450,711,712,714,716],{},[453,713,456],{"align":455},[453,715,459],{"align":455},[453,717,462],{"align":455},[464,719,720,731,739,749,758,769,778,788,797,808,818,829,839,849,857,867,877,886,896,905,916,924,934,942,952,960],{},[450,721,722,725,728],{},[469,723,724],{"align":455},"/plan",[469,726,727],{"align":455},"nav_msgs/msg/Path",[469,729,730],{"align":455},"Global path from current position to target point",[450,732,733,735,737],{},[469,734,456],{"align":455},[469,736,459],{"align":455},[469,738,462],{"align":455},[450,740,741,744,746],{},[469,742,743],{"align":455},"/global_costmap/costmap",[469,745,523],{"align":455},[469,747,748],{"align":455},"Publish the current state of the global costmap.",[450,750,751,753,755],{},[469,752,667],{"align":455},[469,754,629],{"align":455},[469,756,757],{"align":455},"Raw costmap data without further processing.",[450,759,760,763,766],{},[469,761,762],{"align":455},"/global_costmap/costmap_updates",[469,764,765],{"align":455},"map_msgs/msg/OccupancyGridUpdate",[469,767,768],{"align":455},"The update of the global costmap, this message can efficiently update the map.",[450,770,771,773,775],{},[469,772,677],{"align":455},[469,774,640],{"align":455},[469,776,777],{"align":455},"Publish the robot's footprint, which is the shape of the space the robot occupies on the map.",[450,779,780,783,786],{},[469,781,782],{"align":455},"Topic Name",[469,784,785],{"align":455},"Message type",[469,787,462],{"align":455},[450,789,790,792,794],{},[469,791,695],{"align":455},[469,793,618],{"align":455},[469,795,796],{"align":455},"Publish control commands, including linear and angular velocity, to move the robot along the planned path.",[450,798,799,802,805],{},[469,800,801],{"align":455},"/cost_cloud",[469,803,804],{"align":455},"sensor_msgs/msg/PointCloud2",[469,806,807],{"align":455},"Publish point cloud data in the cost map for obstacle avoidance and path planning.",[450,809,810,813,815],{},[469,811,812],{"align":455},"/local_plan",[469,814,727],{"align":455},[469,816,817],{"align":455},"Publish the local path planning result, i.e., how the robot should reach a point near the current target point.",[450,819,820,823,826],{},[469,821,822],{"align":455},"/marker",[469,824,825],{"align":455},"visualization_msgs/msg/MarkerArray",[469,827,828],{"align":455},"Publish visualization markers to display information such as paths and obstacles in visualization tools like RViz.",[450,830,831,834,836],{},[469,832,833],{"align":455},"/received_global_plan",[469,835,727],{"align":455},[469,837,838],{"align":455},"Publishes the global path received from the global planner, i.e., the path from the current position to the target point.",[450,840,841,844,846],{},[469,842,843],{"align":455},"/transformed_global_plan",[469,845,727],{"align":455},[469,847,848],{"align":455},"Publish the globally transformed path after coordinate transformation, ensuring the path is consistent with the robot's current coordinate system.",[450,850,851,853,855],{},[469,852,456],{"align":455},[469,854,459],{"align":455},[469,856,462],{"align":455},[450,858,859,862,864],{},[469,860,861],{"align":455},"/local_costmap/clearing_endpoints",[469,863,804],{"align":455},[469,865,866],{"align":455},"Remove obstacle point cloud data from the cost map, typically used for dynamic obstacle handling.",[450,868,869,872,874],{},[469,870,871],{"align":455},"/local_costmap/costmap",[469,873,523],{"align":455},[469,875,876],{"align":455},"Local cost map, representing the traversability of the environment around the robot.",[450,878,879,881,883],{},[469,880,626],{"align":455},[469,882,629],{"align":455},[469,884,885],{"align":455},"Unprocessed local cost map, which may contain more detailed information.",[450,887,888,891,893],{},[469,889,890],{"align":455},"/local_costmap/costmap_updates",[469,892,765],{"align":455},[469,894,895],{"align":455},"Local costmap update information, including which areas have changed.",[450,897,898,900,902],{},[469,899,637],{"align":455},[469,901,640],{"align":455},[469,903,904],{"align":455},"The published robot footprint polygon, with timestamps indicating the publication time.",[450,906,907,910,913],{},[469,908,909],{"align":455},"/local_costmap/voxel_grid",[469,911,912],{"align":455},"nav2_msgs/msg/VoxelGrid",[469,914,915],{"align":455},"Voxel grid data, used for spatial partitioning and optimization in cost map generation.",[450,917,918,920,922],{},[469,919,456],{"align":455},[469,921,459],{"align":455},[469,923,462],{"align":455},[450,925,926,929,931],{},[469,927,928],{"align":455},"/cmd_vel",[469,930,618],{"align":455},[469,932,933],{"align":455},"Speed command sent to the low-level controller.",[450,935,936,938,940],{},[469,937,456],{"align":455},[469,939,459],{"align":455},[469,941,462],{"align":455},[450,943,944,947,949],{},[469,945,946],{"align":455},"/plan_smoothed",[469,948,727],{"align":455},[469,950,951],{"align":455},"The smoothed global path",[450,953,954,956,958],{},[469,955,456],{"align":455},[469,957,459],{"align":455},[469,959,462],{"align":455},[450,961,962,964,966],{},[469,963,928],{"align":455},[469,965,618],{"align":455},[469,967,968],{"align":455},"Publish the topic for speed control commands after processing or smoothing.",[34,970,971],{},"Since Zhao Xuzuo rewrote the official source code into the workspace, this can be cumbersome for beginners. For beginners, it is recommended to use the official bringup node. Below is a summary of the usage method based on the official Wiki: (Here, the official bringup node is chosen instead of Teacher Zhao Xuzuo's node.)",[34,973,974,975,978],{},"Below is the configured ",[74,976,977],{},"nav2.launch.py"," file:",[138,980,984],{"className":981,"code":982,"language":983,"meta":100,"style":100},"language-python shiki shiki-themes github-light github-dark","import os\n\nfrom ament_index_python.packages import get_package_share_directory\nfrom launch import LaunchDescription\nfrom launch.actions import DeclareLaunchArgument\nfrom launch.actions import IncludeLaunchDescription\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\nfrom launch.substitutions import LaunchConfiguration\n\n# from launch_ros.actions import Node\n\ndef generate_launch_description():\n navigation2_dir = get_package_share_directory('nav05_navigation2')\n nav2_bringup_dir = get_package_share_directory('nav2_bringup')\n\n # launch的参数的优先级比yaml的参数优先级高\n use_sim_time = LaunchConfiguration('use_sim_time', default='flase')\n map_yaml_path = LaunchConfiguration('map',default=os.path.join(navigation2_dir,'map','house.yaml'))\n nav2_param_path = LaunchConfiguration('params_file',default=os.path.join(navigation2_dir,'params','nav2.yaml'))\n\n return LaunchDescription([\n DeclareLaunchArgument('use_sim_time',default_value=use_sim_time,description='Use simulation (Gazebo) clock if true'),\n DeclareLaunchArgument('map',default_value=map_yaml_path,description='Full path to map file to load'),\n DeclareLaunchArgument('params_file',default_value=nav2_param_path,description='Full path to param file to load'),\n\n IncludeLaunchDescription(\n PythonLaunchDescriptionSource([nav2_bringup_dir,'/launch','/bringup_launch.py']),\n launch_arguments={\n 'map': map_yaml_path,\n 'use_sim_time': use_sim_time,\n 'params_file': nav2_param_path}.items(),\n ),\n ])\n","python",[74,985,986,996,1002,1016,1029,1042,1054,1067,1080,1085,1092,1097,1109,1127,1142,1147,1153,1181,1214,1245,1250,1259,1287,1312,1337,1342,1348,1365,1376,1385,1394,1403,1409],{"__ignoreMap":100},[146,987,988,992],{"class":148,"line":149},[146,989,991],{"class":990},"szBVR","import",[146,993,995],{"class":994},"sVt8B"," os\n",[146,997,998],{"class":148,"line":283},[146,999,1001],{"emptyLinePlaceholder":1000},true,"\n",[146,1003,1005,1008,1011,1013],{"class":148,"line":1004},3,[146,1006,1007],{"class":990},"from",[146,1009,1010],{"class":994}," ament_index_python.packages ",[146,1012,991],{"class":990},[146,1014,1015],{"class":994}," get_package_share_directory\n",[146,1017,1019,1021,1024,1026],{"class":148,"line":1018},4,[146,1020,1007],{"class":990},[146,1022,1023],{"class":994}," launch ",[146,1025,991],{"class":990},[146,1027,1028],{"class":994}," LaunchDescription\n",[146,1030,1032,1034,1037,1039],{"class":148,"line":1031},5,[146,1033,1007],{"class":990},[146,1035,1036],{"class":994}," launch.actions ",[146,1038,991],{"class":990},[146,1040,1041],{"class":994}," DeclareLaunchArgument\n",[146,1043,1045,1047,1049,1051],{"class":148,"line":1044},6,[146,1046,1007],{"class":990},[146,1048,1036],{"class":994},[146,1050,991],{"class":990},[146,1052,1053],{"class":994}," IncludeLaunchDescription\n",[146,1055,1057,1059,1062,1064],{"class":148,"line":1056},7,[146,1058,1007],{"class":990},[146,1060,1061],{"class":994}," launch.launch_description_sources ",[146,1063,991],{"class":990},[146,1065,1066],{"class":994}," PythonLaunchDescriptionSource\n",[146,1068,1070,1072,1075,1077],{"class":148,"line":1069},8,[146,1071,1007],{"class":990},[146,1073,1074],{"class":994}," launch.substitutions ",[146,1076,991],{"class":990},[146,1078,1079],{"class":994}," LaunchConfiguration\n",[146,1081,1083],{"class":148,"line":1082},9,[146,1084,1001],{"emptyLinePlaceholder":1000},[146,1086,1088],{"class":148,"line":1087},10,[146,1089,1091],{"class":1090},"sJ8bj","# from launch_ros.actions import Node\n",[146,1093,1095],{"class":148,"line":1094},11,[146,1096,1001],{"emptyLinePlaceholder":1000},[146,1098,1100,1103,1106],{"class":148,"line":1099},12,[146,1101,1102],{"class":990},"def",[146,1104,1105],{"class":152}," generate_launch_description",[146,1107,1108],{"class":994},"():\n",[146,1110,1112,1115,1118,1121,1124],{"class":148,"line":1111},13,[146,1113,1114],{"class":994}," navigation2_dir ",[146,1116,1117],{"class":990},"=",[146,1119,1120],{"class":994}," get_package_share_directory(",[146,1122,1123],{"class":156},"'nav05_navigation2'",[146,1125,1126],{"class":994},")\n",[146,1128,1130,1133,1135,1137,1140],{"class":148,"line":1129},14,[146,1131,1132],{"class":994}," nav2_bringup_dir ",[146,1134,1117],{"class":990},[146,1136,1120],{"class":994},[146,1138,1139],{"class":156},"'nav2_bringup'",[146,1141,1126],{"class":994},[146,1143,1145],{"class":148,"line":1144},15,[146,1146,1001],{"emptyLinePlaceholder":1000},[146,1148,1150],{"class":148,"line":1149},16,[146,1151,1152],{"class":1090}," # launch的参数的优先级比yaml的参数优先级高\n",[146,1154,1156,1159,1161,1164,1167,1170,1174,1176,1179],{"class":148,"line":1155},17,[146,1157,1158],{"class":994}," use_sim_time ",[146,1160,1117],{"class":990},[146,1162,1163],{"class":994}," LaunchConfiguration(",[146,1165,1166],{"class":156},"'use_sim_time'",[146,1168,1169],{"class":994},", ",[146,1171,1173],{"class":1172},"s4XuR","default",[146,1175,1117],{"class":990},[146,1177,1178],{"class":156},"'flase'",[146,1180,1126],{"class":994},[146,1182,1184,1187,1189,1191,1194,1197,1199,1201,1204,1206,1208,1211],{"class":148,"line":1183},18,[146,1185,1186],{"class":994}," map_yaml_path ",[146,1188,1117],{"class":990},[146,1190,1163],{"class":994},[146,1192,1193],{"class":156},"'map'",[146,1195,1196],{"class":994},",",[146,1198,1173],{"class":1172},[146,1200,1117],{"class":990},[146,1202,1203],{"class":994},"os.path.join(navigation2_dir,",[146,1205,1193],{"class":156},[146,1207,1196],{"class":994},[146,1209,1210],{"class":156},"'house.yaml'",[146,1212,1213],{"class":994},"))\n",[146,1215,1217,1220,1222,1224,1227,1229,1231,1233,1235,1238,1240,1243],{"class":148,"line":1216},19,[146,1218,1219],{"class":994}," nav2_param_path ",[146,1221,1117],{"class":990},[146,1223,1163],{"class":994},[146,1225,1226],{"class":156},"'params_file'",[146,1228,1196],{"class":994},[146,1230,1173],{"class":1172},[146,1232,1117],{"class":990},[146,1234,1203],{"class":994},[146,1236,1237],{"class":156},"'params'",[146,1239,1196],{"class":994},[146,1241,1242],{"class":156},"'nav2.yaml'",[146,1244,1213],{"class":994},[146,1246,1248],{"class":148,"line":1247},20,[146,1249,1001],{"emptyLinePlaceholder":1000},[146,1251,1253,1256],{"class":148,"line":1252},21,[146,1254,1255],{"class":990}," return",[146,1257,1258],{"class":994}," LaunchDescription([\n",[146,1260,1262,1265,1267,1269,1272,1274,1277,1279,1281,1284],{"class":148,"line":1261},22,[146,1263,1264],{"class":994}," DeclareLaunchArgument(",[146,1266,1166],{"class":156},[146,1268,1196],{"class":994},[146,1270,1271],{"class":1172},"default_value",[146,1273,1117],{"class":990},[146,1275,1276],{"class":994},"use_sim_time,",[146,1278,462],{"class":1172},[146,1280,1117],{"class":990},[146,1282,1283],{"class":156},"'Use simulation (Gazebo) clock if true'",[146,1285,1286],{"class":994},"),\n",[146,1288,1290,1292,1294,1296,1298,1300,1303,1305,1307,1310],{"class":148,"line":1289},23,[146,1291,1264],{"class":994},[146,1293,1193],{"class":156},[146,1295,1196],{"class":994},[146,1297,1271],{"class":1172},[146,1299,1117],{"class":990},[146,1301,1302],{"class":994},"map_yaml_path,",[146,1304,462],{"class":1172},[146,1306,1117],{"class":990},[146,1308,1309],{"class":156},"'Full path to map file to load'",[146,1311,1286],{"class":994},[146,1313,1315,1317,1319,1321,1323,1325,1328,1330,1332,1335],{"class":148,"line":1314},24,[146,1316,1264],{"class":994},[146,1318,1226],{"class":156},[146,1320,1196],{"class":994},[146,1322,1271],{"class":1172},[146,1324,1117],{"class":990},[146,1326,1327],{"class":994},"nav2_param_path,",[146,1329,462],{"class":1172},[146,1331,1117],{"class":990},[146,1333,1334],{"class":156},"'Full path to param file to load'",[146,1336,1286],{"class":994},[146,1338,1340],{"class":148,"line":1339},25,[146,1341,1001],{"emptyLinePlaceholder":1000},[146,1343,1345],{"class":148,"line":1344},26,[146,1346,1347],{"class":994}," IncludeLaunchDescription(\n",[146,1349,1351,1354,1357,1359,1362],{"class":148,"line":1350},27,[146,1352,1353],{"class":994}," PythonLaunchDescriptionSource([nav2_bringup_dir,",[146,1355,1356],{"class":156},"'/launch'",[146,1358,1196],{"class":994},[146,1360,1361],{"class":156},"'/bringup_launch.py'",[146,1363,1364],{"class":994},"]),\n",[146,1366,1368,1371,1373],{"class":148,"line":1367},28,[146,1369,1370],{"class":1172}," launch_arguments",[146,1372,1117],{"class":990},[146,1374,1375],{"class":994},"{\n",[146,1377,1379,1382],{"class":148,"line":1378},29,[146,1380,1381],{"class":156}," 'map'",[146,1383,1384],{"class":994},": map_yaml_path,\n",[146,1386,1388,1391],{"class":148,"line":1387},30,[146,1389,1390],{"class":156}," 'use_sim_time'",[146,1392,1393],{"class":994},": use_sim_time,\n",[146,1395,1397,1400],{"class":148,"line":1396},31,[146,1398,1399],{"class":156}," 'params_file'",[146,1401,1402],{"class":994},": nav2_param_path}.items(),\n",[146,1404,1406],{"class":148,"line":1405},32,[146,1407,1408],{"class":994}," ),\n",[146,1410,1412],{"class":148,"line":1411},33,[146,1413,1414],{"class":994}," ])\n",[34,1416,1417,1418,1421],{},"Here is ",[74,1419,1420],{},"rviz2.launch.py",":",[138,1423,1425],{"className":981,"code":1424,"language":983,"meta":100,"style":100},"import os\n\nfrom ament_index_python.packages import get_package_share_directory\nfrom launch import LaunchDescription\nfrom launch.actions import DeclareLaunchArgument\nfrom launch.substitutions import LaunchConfiguration\nfrom launch_ros.actions import Node\n\ndef generate_launch_description():\n navigation2_dir = get_package_share_directory('nav05_navigation2')\n\n use_sim_time = LaunchConfiguration('use_sim_time', default='false')\n\n rviz_config_dir = os.path.join(navigation2_dir,'rviz','nav2.rviz')\n\n return LaunchDescription([\n DeclareLaunchArgument('use_sim_time',default_value=use_sim_time,description='Use simulation (Gazebo) clock if true'),\n\n Node(\n package='rviz2',\n executable='rviz2',\n name='rviz2',\n arguments=['-d', rviz_config_dir],\n parameters=[{'use_sim_time': use_sim_time}],\n output='screen'),\n ])\n",[74,1426,1427,1433,1437,1447,1457,1467,1477,1489,1493,1501,1513,1517,1538,1542,1562,1566,1572,1594,1598,1603,1616,1627,1638,1654,1669,1681],{"__ignoreMap":100},[146,1428,1429,1431],{"class":148,"line":149},[146,1430,991],{"class":990},[146,1432,995],{"class":994},[146,1434,1435],{"class":148,"line":283},[146,1436,1001],{"emptyLinePlaceholder":1000},[146,1438,1439,1441,1443,1445],{"class":148,"line":1004},[146,1440,1007],{"class":990},[146,1442,1010],{"class":994},[146,1444,991],{"class":990},[146,1446,1015],{"class":994},[146,1448,1449,1451,1453,1455],{"class":148,"line":1018},[146,1450,1007],{"class":990},[146,1452,1023],{"class":994},[146,1454,991],{"class":990},[146,1456,1028],{"class":994},[146,1458,1459,1461,1463,1465],{"class":148,"line":1031},[146,1460,1007],{"class":990},[146,1462,1036],{"class":994},[146,1464,991],{"class":990},[146,1466,1041],{"class":994},[146,1468,1469,1471,1473,1475],{"class":148,"line":1044},[146,1470,1007],{"class":990},[146,1472,1074],{"class":994},[146,1474,991],{"class":990},[146,1476,1079],{"class":994},[146,1478,1479,1481,1484,1486],{"class":148,"line":1056},[146,1480,1007],{"class":990},[146,1482,1483],{"class":994}," launch_ros.actions ",[146,1485,991],{"class":990},[146,1487,1488],{"class":994}," Node\n",[146,1490,1491],{"class":148,"line":1069},[146,1492,1001],{"emptyLinePlaceholder":1000},[146,1494,1495,1497,1499],{"class":148,"line":1082},[146,1496,1102],{"class":990},[146,1498,1105],{"class":152},[146,1500,1108],{"class":994},[146,1502,1503,1505,1507,1509,1511],{"class":148,"line":1087},[146,1504,1114],{"class":994},[146,1506,1117],{"class":990},[146,1508,1120],{"class":994},[146,1510,1123],{"class":156},[146,1512,1126],{"class":994},[146,1514,1515],{"class":148,"line":1094},[146,1516,1001],{"emptyLinePlaceholder":1000},[146,1518,1519,1521,1523,1525,1527,1529,1531,1533,1536],{"class":148,"line":1099},[146,1520,1158],{"class":994},[146,1522,1117],{"class":990},[146,1524,1163],{"class":994},[146,1526,1166],{"class":156},[146,1528,1169],{"class":994},[146,1530,1173],{"class":1172},[146,1532,1117],{"class":990},[146,1534,1535],{"class":156},"'false'",[146,1537,1126],{"class":994},[146,1539,1540],{"class":148,"line":1111},[146,1541,1001],{"emptyLinePlaceholder":1000},[146,1543,1544,1547,1549,1552,1555,1557,1560],{"class":148,"line":1129},[146,1545,1546],{"class":994}," rviz_config_dir ",[146,1548,1117],{"class":990},[146,1550,1551],{"class":994}," os.path.join(navigation2_dir,",[146,1553,1554],{"class":156},"'rviz'",[146,1556,1196],{"class":994},[146,1558,1559],{"class":156},"'nav2.rviz'",[146,1561,1126],{"class":994},[146,1563,1564],{"class":148,"line":1144},[146,1565,1001],{"emptyLinePlaceholder":1000},[146,1567,1568,1570],{"class":148,"line":1149},[146,1569,1255],{"class":990},[146,1571,1258],{"class":994},[146,1573,1574,1576,1578,1580,1582,1584,1586,1588,1590,1592],{"class":148,"line":1155},[146,1575,1264],{"class":994},[146,1577,1166],{"class":156},[146,1579,1196],{"class":994},[146,1581,1271],{"class":1172},[146,1583,1117],{"class":990},[146,1585,1276],{"class":994},[146,1587,462],{"class":1172},[146,1589,1117],{"class":990},[146,1591,1283],{"class":156},[146,1593,1286],{"class":994},[146,1595,1596],{"class":148,"line":1183},[146,1597,1001],{"emptyLinePlaceholder":1000},[146,1599,1600],{"class":148,"line":1216},[146,1601,1602],{"class":994}," Node(\n",[146,1604,1605,1608,1610,1613],{"class":148,"line":1247},[146,1606,1607],{"class":1172}," package",[146,1609,1117],{"class":990},[146,1611,1612],{"class":156},"'rviz2'",[146,1614,1615],{"class":994},",\n",[146,1617,1618,1621,1623,1625],{"class":148,"line":1252},[146,1619,1620],{"class":1172}," executable",[146,1622,1117],{"class":990},[146,1624,1612],{"class":156},[146,1626,1615],{"class":994},[146,1628,1629,1632,1634,1636],{"class":148,"line":1261},[146,1630,1631],{"class":1172}," name",[146,1633,1117],{"class":990},[146,1635,1612],{"class":156},[146,1637,1615],{"class":994},[146,1639,1640,1643,1645,1648,1651],{"class":148,"line":1289},[146,1641,1642],{"class":1172}," arguments",[146,1644,1117],{"class":990},[146,1646,1647],{"class":994},"[",[146,1649,1650],{"class":156},"'-d'",[146,1652,1653],{"class":994},", rviz_config_dir],\n",[146,1655,1656,1659,1661,1664,1666],{"class":148,"line":1314},[146,1657,1658],{"class":1172}," parameters",[146,1660,1117],{"class":990},[146,1662,1663],{"class":994},"[{",[146,1665,1166],{"class":156},[146,1667,1668],{"class":994},": use_sim_time}],\n",[146,1670,1671,1674,1676,1679],{"class":148,"line":1339},[146,1672,1673],{"class":1172}," output",[146,1675,1117],{"class":990},[146,1677,1678],{"class":156},"'screen'",[146,1680,1286],{"class":994},[146,1682,1683],{"class":148,"line":1344},[146,1684,1414],{"class":994},[34,1686,1687,1688,1691],{},"Below is the ",[74,1689,1690],{},"nav2.yaml"," configuration file (differential drive model + DWE local planner):",[138,1693,1695],{"className":981,"code":1694,"language":983,"meta":100,"style":100},"amcl:\n ros__parameters:\n use_sim_time: false\n alpha1: 0.2\n alpha2: 0.2\n alpha3: 0.2\n alpha4: 0.2\n alpha5: 0.2\n base_frame_id: \"base_link\"\n beam_skip_distance: 0.5\n beam_skip_error_threshold: 0.9\n beam_skip_threshold: 0.3\n do_beamskip: false\n global_frame_id: \"map\"\n lambda_short: 0.1\n laser_likelihood_max_dist: 2.0\n laser_max_range: 100.0\n laser_min_range: -1.0\n laser_model_type: \"likelihood_field\"\n max_beams: 60\n max_particles: 2000\n min_particles: 500\n odom_frame_id: \"odom\"\n pf_err: 0.05\n pf_z: 0.99\n recovery_alpha_fast: 0.0\n recovery_alpha_slow: 0.0\n resample_interval: 1\n robot_model_type: \"nav2_amcl::DifferentialMotionModel\"\n save_pose_rate: 0.5\n sigma_hit: 0.2\n tf_broadcast: true\n transform_tolerance: 1.0\n update_min_a: 0.2\n update_min_d: 0.25\n z_hit: 0.5\n z_max: 0.05\n z_rand: 0.5\n z_short: 0.05\n scan_topic: scan\n\namcl_map_client:\n ros__parameters:\n use_sim_time: false\n\namcl_rclcpp_node:\n ros__parameters:\n use_sim_time: false\n\nbt_navigator:\n ros__parameters:\n use_sim_time: false\n global_frame: map\n robot_base_frame: base_link\n odom_topic: /odom\n bt_loop_duration: 10\n default_server_timeout: 20\n\n # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:\n\n # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml\n\n # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml\n\n # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.\n plugin_lib_names:\n - nav2_compute_path_to_pose_action_bt_node\n - nav2_compute_path_through_poses_action_bt_node\n - nav2_smooth_path_action_bt_node\n - nav2_follow_path_action_bt_node\n - nav2_spin_action_bt_node\n - nav2_wait_action_bt_node\n - nav2_back_up_action_bt_node\n - nav2_drive_on_heading_bt_node\n - nav2_clear_costmap_service_bt_node\n - nav2_is_stuck_condition_bt_node\n - nav2_goal_reached_condition_bt_node\n - nav2_goal_updated_condition_bt_node\n - nav2_globally_updated_goal_condition_bt_node\n - nav2_is_path_valid_condition_bt_node\n - nav2_initial_pose_received_condition_bt_node\n - nav2_reinitialize_global_localization_service_bt_node\n - nav2_rate_controller_bt_node\n - nav2_distance_controller_bt_node\n - nav2_speed_controller_bt_node\n - nav2_truncate_path_action_bt_node\n - nav2_truncate_path_local_action_bt_node\n - nav2_goal_updater_node_bt_node\n - nav2_recovery_node_bt_node\n - nav2_pipeline_sequence_bt_node\n - nav2_round_robin_node_bt_node\n - nav2_transform_available_condition_bt_node\n - nav2_time_expired_condition_bt_node\n - nav2_path_expiring_timer_condition\n - nav2_distance_traveled_condition_bt_node\n - nav2_single_trigger_bt_node\n - nav2_is_battery_low_condition_bt_node\n - nav2_navigate_through_poses_action_bt_node\n - nav2_navigate_to_pose_action_bt_node\n - nav2_remove_passed_goals_action_bt_node\n - nav2_planner_selector_bt_node\n - nav2_controller_selector_bt_node\n - nav2_goal_checker_selector_bt_node\n - nav2_controller_cancel_bt_node\n - nav2_path_longer_on_approach_bt_node\n - nav2_wait_cancel_bt_node\n - nav2_spin_cancel_bt_node\n - nav2_back_up_cancel_bt_node\n - nav2_drive_on_heading_cancel_bt_node\n\nbt_navigator_rclcpp_node:\n ros__parameters:\n use_sim_time: false\n\ncontroller_server:\n ros__parameters:\n use_sim_time: false\n controller_frequency: 20.0\n min_x_velocity_threshold: 0.001\n min_y_velocity_threshold: 0.5\n min_theta_velocity_threshold: 0.001\n failure_tolerance: 0.3\n progress_checker_plugin: \"progress_checker\"\n goal_checker_plugins: [\"general_goal_checker\"] # \"precise_goal_checker\"\n controller_plugins: [\"FollowPath\"]\n\n # Progress checker parameters\n progress_checker:\n plugin: \"nav2_controller::SimpleProgressChecker\"\n required_movement_radius: 0.5\n movement_time_allowance: 10.0\n\n # Goal checker parameters\n #precise_goal_checker:\n\n # plugin: \"nav2_controller::SimpleGoalChecker\"\n\n # xy_goal_tolerance: 0.25\n\n # yaw_goal_tolerance: 0.25\n\n # stateful: True\n general_goal_checker:\n stateful: True\n plugin: \"nav2_controller::SimpleGoalChecker\"\n xy_goal_tolerance: 0.25\n yaw_goal_tolerance: 0.25\n\n # DWB parameters\n FollowPath:\n plugin: \"dwb_core::DWBLocalPlanner\"\n debug_trajectory_details: True\n min_vel_x: 0.0\n min_vel_y: 0.0\n max_vel_x: 0.26\n max_vel_y: 0.0\n max_vel_theta: 1.0\n min_speed_xy: 0.0\n max_speed_xy: 0.26\n min_speed_theta: 0.0\n\n # Add high threshold velocity for turtlebot 3 issue.\n\n # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75\n acc_lim_x: 2.5\n acc_lim_y: 0.0\n acc_lim_theta: 3.2\n decel_lim_x: -2.5\n decel_lim_y: 0.0\n decel_lim_theta: -3.2\n vx_samples: 20\n vy_samples: 5\n vtheta_samples: 20\n sim_time: 1.7\n linear_granularity: 0.05\n angular_granularity: 0.025\n transform_tolerance: 0.2\n xy_goal_tolerance: 0.25\n trans_stopped_velocity: 0.25\n short_circuit_trajectory_evaluation: True\n stateful: True\n critics: [\"RotateToGoal\", \"Oscillation\", \"BaseObstacle\", \"GoalAlign\", \"PathAlign\", \"PathDist\", \"GoalDist\"]\n BaseObstacle.scale: 0.02\n PathAlign.scale: 32.0\n PathAlign.forward_point_distance: 0.1\n GoalAlign.scale: 24.0\n GoalAlign.forward_point_distance: 0.1\n PathDist.scale: 32.0\n GoalDist.scale: 24.0\n RotateToGoal.scale: 32.0\n RotateToGoal.slowing_factor: 5.0\n RotateToGoal.lookahead_time: -1.0\n\ncontroller_server_rclcpp_node:\n ros__parameters:\n use_sim_time: false\n\nlocal_costmap:\n local_costmap:\n ros__parameters:\n update_frequency: 5.0\n publish_frequency: 2.0\n global_frame: odom\n robot_base_frame: base_link\n use_sim_time: false\n rolling_window: true\n width: 3\n height: 3\n resolution: 0.05\n robot_radius: 0.22\n plugins: [\"static_layer\", \"obstacle_layer\", \"voxel_layer\", \"inflation_layer\"]\n inflation_layer:\n plugin: \"nav2_costmap_2d::InflationLayer\"\n cost_scaling_factor: 3.0\n inflation_radius: 0.55\n obstacle_layer:\n plugin: \"nav2_costmap_2d::ObstacleLayer\"\n enabled: True\n observation_sources: scan\n scan:\n topic: /scan\n max_obstacle_height: 2.0\n clearing: True\n marking: True\n data_type: \"LaserScan\"\n raytrace_max_range: 3.0\n raytrace_min_range: 0.0\n obstacle_max_range: 2.5\n obstacle_min_range: 0.0\n voxel_layer:\n plugin: \"nav2_costmap_2d::VoxelLayer\"\n enabled: True\n publish_voxel_map: True\n origin_z: 0.0\n z_resolution: 0.05\n z_voxels: 16\n max_obstacle_height: 2.0\n mark_threshold: 0\n observation_sources: scan\n scan:\n topic: /scan\n max_obstacle_height: 2.0\n clearing: True\n marking: True\n data_type: \"LaserScan\"\n raytrace_max_range: 3.0\n raytrace_min_range: 0.0\n obstacle_max_range: 2.5\n obstacle_min_range: 0.0\n static_layer:\n plugin: \"nav2_costmap_2d::StaticLayer\"\n map_subscribe_transient_local: True\n always_send_full_costmap: True\n\n local_costmap_client:\n ros__parameters:\n use_sim_time: false\n local_costmap_rclcpp_node:\n ros__parameters:\n use_sim_time: false\n\nglobal_costmap:\n global_costmap:\n ros__parameters:\n update_frequency: 1.0\n publish_frequency: 1.0\n global_frame: map\n robot_base_frame: base_link\n use_sim_time: false\n robot_radius: 0.22\n resolution: 0.05\n track_unknown_space: true\n plugins: [\"static_layer\", \"obstacle_layer\", \"inflation_layer\"]\n obstacle_layer:\n plugin: \"nav2_costmap_2d::ObstacleLayer\"\n enabled: True\n observation_sources: scan\n scan:\n topic: /scan\n max_obstacle_height: 2.0\n clearing: True\n marking: True\n data_type: \"LaserScan\"\n raytrace_max_range: 3.0\n raytrace_min_range: 0.0\n obstacle_max_range: 2.5\n obstacle_min_range: 0.0\n static_layer:\n plugin: \"nav2_costmap_2d::StaticLayer\"\n map_subscribe_transient_local: True\n inflation_layer:\n plugin: \"nav2_costmap_2d::InflationLayer\"\n cost_scaling_factor: 3.0\n inflation_radius: 0.55\n always_send_full_costmap: True\n\n global_costmap_client:\n ros__parameters:\n use_sim_time: false\n global_costmap_rclcpp_node:\n ros__parameters:\n use_sim_time: false\n\nmap_server:\n ros__parameters:\n use_sim_time: false\n yaml_filename: \"house.yaml\"\n\nmap_saver:\n ros__parameters:\n use_sim_time: false\n save_map_timeout: 5.0\n free_thresh_default: 0.25\n occupied_thresh_default: 0.65\n map_subscribe_transient_local: True\n\nplanner_server:\n ros__parameters:\n expected_planner_frequency: 20.0\n use_sim_time: false\n planner_plugins: [\"GridBased\"]\n GridBased:\n plugin: \"nav2_navfn_planner/NavfnPlanner\"\n tolerance: 0.5\n use_astar: false\n allow_unknown: true\n\nplanner_server_rclcpp_node:\n ros__parameters:\n use_sim_time: false\n\nsmoother_server:\n ros__parameters:\n use_sim_time: false\n smoother_plugins: [\"simple_smoother\"]\n simple_smoother:\n plugin: \"nav2_smoother::SimpleSmoother\"\n tolerance: 1.0e-10\n max_its: 1000\n do_refinement: True\n\nbehavior_server:\n ros__parameters:\n costmap_topic: local_costmap/costmap_raw\n footprint_topic: local_costmap/published_footprint\n cycle_frequency: 10.0\n behavior_plugins: [\"spin\", \"backup\", \"drive_on_heading\", \"wait\"]\n spin:\n plugin: \"nav2_behaviors/Spin\"\n backup:\n plugin: \"nav2_behaviors/BackUp\"\n drive_on_heading:\n plugin: \"nav2_behaviors/DriveOnHeading\"\n wait:\n plugin: \"nav2_behaviors/Wait\"\n global_frame: odom\n robot_base_frame: base_link\n transform_tolerance: 0.1\n use_sim_time: false\n simulate_ahead_time: 2.0\n max_rotational_vel: 1.0\n min_rotational_vel: 0.4\n rotational_acc_lim: 3.2\n\nrobot_state_publisher:\n ros__parameters:\n use_sim_time: false\n\nwaypoint_follower:\n ros__parameters:\n loop_rate: 20\n stop_on_failure: false\n waypoint_task_executor_plugin: \"wait_at_waypoint\"\n wait_at_waypoint:\n plugin: \"nav2_waypoint_follower::WaitAtWaypoint\"\n enabled: True\n waypoint_pause_duration: 200\n\nvelocity_smoother:\n ros__parameters:\n use_sim_time: false\n smoothing_frequency: 20.0\n scale_velocities: False\n feedback: \"OPEN_LOOP\"\n max_velocity: [0.26, 0.0, 1.0]\n min_velocity: [-0.26, 0.0, -1.0]\n max_accel: [2.5, 0.0, 3.2]\n max_decel: [-2.5, 0.0, -3.2]\n odom_topic: \"odom\"\n odom_duration: 0.1\n deadband_velocity: [0.0, 0.0, 0.0]\n velocity_timeout: 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ros__parameters:\n",[146,1708,1709],{"class":148,"line":1004},[146,1710,1711],{"class":994}," use_sim_time: false\n",[146,1713,1714,1717],{"class":148,"line":1018},[146,1715,1716],{"class":994}," alpha1: ",[146,1718,1719],{"class":169},"0.2\n",[146,1721,1722,1725],{"class":148,"line":1031},[146,1723,1724],{"class":994}," alpha2: ",[146,1726,1719],{"class":169},[146,1728,1729,1732],{"class":148,"line":1044},[146,1730,1731],{"class":994}," alpha3: ",[146,1733,1719],{"class":169},[146,1735,1736,1739],{"class":148,"line":1056},[146,1737,1738],{"class":994}," alpha4: ",[146,1740,1719],{"class":169},[146,1742,1743,1746],{"class":148,"line":1069},[146,1744,1745],{"class":994}," alpha5: ",[146,1747,1719],{"class":169},[146,1749,1750,1753],{"class":148,"line":1082},[146,1751,1752],{"class":994}," base_frame_id: ",[146,1754,1755],{"class":156},"\"base_link\"\n",[146,1757,1758,1761],{"class":148,"line":1087},[146,1759,1760],{"class":994}," beam_skip_distance: 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",[146,1815,1816],{"class":169},"100.0\n",[146,1818,1819,1822,1825],{"class":148,"line":1183},[146,1820,1821],{"class":994}," laser_min_range: ",[146,1823,1824],{"class":990},"-",[146,1826,1827],{"class":169},"1.0\n",[146,1829,1830,1833],{"class":148,"line":1216},[146,1831,1832],{"class":994}," laser_model_type: ",[146,1834,1835],{"class":156},"\"likelihood_field\"\n",[146,1837,1838,1841],{"class":148,"line":1247},[146,1839,1840],{"class":994}," max_beams: ",[146,1842,1843],{"class":169},"60\n",[146,1845,1846,1849],{"class":148,"line":1252},[146,1847,1848],{"class":994}," max_particles: ",[146,1850,1851],{"class":169},"2000\n",[146,1853,1854,1857],{"class":148,"line":1261},[146,1855,1856],{"class":994}," min_particles: ",[146,1858,1859],{"class":169},"500\n",[146,1861,1862,1865],{"class":148,"line":1289},[146,1863,1864],{"class":994}," odom_frame_id: ",[146,1866,1867],{"class":156},"\"odom\"\n",[146,1869,1870,1873],{"class":148,"line":1314},[146,1871,1872],{"class":994}," pf_err: ",[146,1874,1875],{"class":169},"0.05\n",[146,1877,1878,1881],{"class":148,"line":1339},[146,1879,1880],{"class":994}," pf_z: ",[146,1882,1883],{"class":169},"0.99\n",[146,1885,1886,1889],{"class":148,"line":1344},[146,1887,1888],{"class":994}," recovery_alpha_fast: ",[146,1890,1891],{"class":169},"0.0\n",[146,1893,1894,1897],{"class":148,"line":1350},[146,1895,1896],{"class":994}," recovery_alpha_slow: ",[146,1898,1891],{"class":169},[146,1900,1901,1904],{"class":148,"line":1367},[146,1902,1903],{"class":994}," resample_interval: ",[146,1905,1906],{"class":169},"1\n",[146,1908,1909,1912],{"class":148,"line":1378},[146,1910,1911],{"class":994}," robot_model_type: ",[146,1913,1914],{"class":156},"\"nav2_amcl::DifferentialMotionModel\"\n",[146,1916,1917,1920],{"class":148,"line":1387},[146,1918,1919],{"class":994}," save_pose_rate: ",[146,1921,1763],{"class":169},[146,1923,1924,1927],{"class":148,"line":1396},[146,1925,1926],{"class":994}," sigma_hit: ",[146,1928,1719],{"class":169},[146,1930,1931],{"class":148,"line":1405},[146,1932,1933],{"class":994}," tf_broadcast: true\n",[146,1935,1936,1939],{"class":148,"line":1411},[146,1937,1938],{"class":994}," transform_tolerance: ",[146,1940,1827],{"class":169},[146,1942,1944,1947],{"class":148,"line":1943},34,[146,1945,1946],{"class":994}," update_min_a: ",[146,1948,1719],{"class":169},[146,1950,1952,1955],{"class":148,"line":1951},35,[146,1953,1954],{"class":994}," update_min_d: ",[146,1956,1957],{"class":169},"0.25\n",[146,1959,1961,1964],{"class":148,"line":1960},36,[146,1962,1963],{"class":994}," z_hit: ",[146,1965,1763],{"class":169},[146,1967,1969,1972],{"class":148,"line":1968},37,[146,1970,1971],{"class":994}," z_max: ",[146,1973,1875],{"class":169},[146,1975,1977,1980],{"class":148,"line":1976},38,[146,1978,1979],{"class":994}," z_rand: ",[146,1981,1763],{"class":169},[146,1983,1985,1988],{"class":148,"line":1984},39,[146,1986,1987],{"class":994}," z_short: ",[146,1989,1875],{"class":169},[146,1991,1993],{"class":148,"line":1992},40,[146,1994,1995],{"class":994}," scan_topic: scan\n",[146,1997,1999],{"class":148,"line":1998},41,[146,2000,1001],{"emptyLinePlaceholder":1000},[146,2002,2004],{"class":148,"line":2003},42,[146,2005,2006],{"class":994},"amcl_map_client:\n",[146,2008,2010],{"class":148,"line":2009},43,[146,2011,1706],{"class":994},[146,2013,2015],{"class":148,"line":2014},44,[146,2016,1711],{"class":994},[146,2018,2020],{"class":148,"line":2019},45,[146,2021,1001],{"emptyLinePlaceholder":1000},[146,2023,2025],{"class":148,"line":2024},46,[146,2026,2027],{"class":994},"amcl_rclcpp_node:\n",[146,2029,2031],{"class":148,"line":2030},47,[146,2032,1706],{"class":994},[146,2034,2036],{"class":148,"line":2035},48,[146,2037,1711],{"class":994},[146,2039,2041],{"class":148,"line":2040},49,[146,2042,1001],{"emptyLinePlaceholder":1000},[146,2044,2046],{"class":148,"line":2045},50,[146,2047,2048],{"class":994},"bt_navigator:\n",[146,2050,2052],{"class":148,"line":2051},51,[146,2053,1706],{"class":994},[146,2055,2057],{"class":148,"line":2056},52,[146,2058,1711],{"class":994},[146,2060,2062,2065],{"class":148,"line":2061},53,[146,2063,2064],{"class":994}," global_frame: ",[146,2066,2067],{"class":169},"map\n",[146,2069,2071],{"class":148,"line":2070},54,[146,2072,2073],{"class":994}," robot_base_frame: base_link\n",[146,2075,2077,2080,2083],{"class":148,"line":2076},55,[146,2078,2079],{"class":994}," odom_topic: ",[146,2081,2082],{"class":990},"/",[146,2084,2085],{"class":994},"odom\n",[146,2087,2089,2092],{"class":148,"line":2088},56,[146,2090,2091],{"class":994}," bt_loop_duration: ",[146,2093,2094],{"class":169},"10\n",[146,2096,2098,2101],{"class":148,"line":2097},57,[146,2099,2100],{"class":994}," default_server_timeout: ",[146,2102,2103],{"class":169},"20\n",[146,2105,2107],{"class":148,"line":2106},58,[146,2108,1001],{"emptyLinePlaceholder":1000},[146,2110,2112],{"class":148,"line":2111},59,[146,2113,2114],{"class":1090}," # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:\n",[146,2116,2118],{"class":148,"line":2117},60,[146,2119,1001],{"emptyLinePlaceholder":1000},[146,2121,2123],{"class":148,"line":2122},61,[146,2124,2125],{"class":1090}," # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml\n",[146,2127,2129],{"class":148,"line":2128},62,[146,2130,1001],{"emptyLinePlaceholder":1000},[146,2132,2134],{"class":148,"line":2133},63,[146,2135,2136],{"class":1090}," # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml\n",[146,2138,2140],{"class":148,"line":2139},64,[146,2141,1001],{"emptyLinePlaceholder":1000},[146,2143,2145],{"class":148,"line":2144},65,[146,2146,2147],{"class":1090}," # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.\n",[146,2149,2151],{"class":148,"line":2150},66,[146,2152,2153],{"class":994}," plugin_lib_names:\n",[146,2155,2157,2160],{"class":148,"line":2156},67,[146,2158,2159],{"class":990}," -",[146,2161,2162],{"class":994}," nav2_compute_path_to_pose_action_bt_node\n",[146,2164,2166,2168],{"class":148,"line":2165},68,[146,2167,2159],{"class":990},[146,2169,2170],{"class":994}," nav2_compute_path_through_poses_action_bt_node\n",[146,2172,2174,2176],{"class":148,"line":2173},69,[146,2175,2159],{"class":990},[146,2177,2178],{"class":994}," nav2_smooth_path_action_bt_node\n",[146,2180,2182,2184],{"class":148,"line":2181},70,[146,2183,2159],{"class":990},[146,2185,2186],{"class":994}," nav2_follow_path_action_bt_node\n",[146,2188,2190,2192],{"class":148,"line":2189},71,[146,2191,2159],{"class":990},[146,2193,2194],{"class":994}," nav2_spin_action_bt_node\n",[146,2196,2198,2200],{"class":148,"line":2197},72,[146,2199,2159],{"class":990},[146,2201,2202],{"class":994}," nav2_wait_action_bt_node\n",[146,2204,2206,2208],{"class":148,"line":2205},73,[146,2207,2159],{"class":990},[146,2209,2210],{"class":994}," nav2_back_up_action_bt_node\n",[146,2212,2214,2216],{"class":148,"line":2213},74,[146,2215,2159],{"class":990},[146,2217,2218],{"class":994}," nav2_drive_on_heading_bt_node\n",[146,2220,2222,2224],{"class":148,"line":2221},75,[146,2223,2159],{"class":990},[146,2225,2226],{"class":994}," nav2_clear_costmap_service_bt_node\n",[146,2228,2230,2232],{"class":148,"line":2229},76,[146,2231,2159],{"class":990},[146,2233,2234],{"class":994}," nav2_is_stuck_condition_bt_node\n",[146,2236,2238,2240],{"class":148,"line":2237},77,[146,2239,2159],{"class":990},[146,2241,2242],{"class":994}," nav2_goal_reached_condition_bt_node\n",[146,2244,2246,2248],{"class":148,"line":2245},78,[146,2247,2159],{"class":990},[146,2249,2250],{"class":994}," nav2_goal_updated_condition_bt_node\n",[146,2252,2254,2256],{"class":148,"line":2253},79,[146,2255,2159],{"class":990},[146,2257,2258],{"class":994}," nav2_globally_updated_goal_condition_bt_node\n",[146,2260,2262,2264],{"class":148,"line":2261},80,[146,2263,2159],{"class":990},[146,2265,2266],{"class":994}," nav2_is_path_valid_condition_bt_node\n",[146,2268,2270,2272],{"class":148,"line":2269},81,[146,2271,2159],{"class":990},[146,2273,2274],{"class":994}," nav2_initial_pose_received_condition_bt_node\n",[146,2276,2278,2280],{"class":148,"line":2277},82,[146,2279,2159],{"class":990},[146,2281,2282],{"class":994}," nav2_reinitialize_global_localization_service_bt_node\n",[146,2284,2286,2288],{"class":148,"line":2285},83,[146,2287,2159],{"class":990},[146,2289,2290],{"class":994}," nav2_rate_controller_bt_node\n",[146,2292,2294,2296],{"class":148,"line":2293},84,[146,2295,2159],{"class":990},[146,2297,2298],{"class":994}," nav2_distance_controller_bt_node\n",[146,2300,2302,2304],{"class":148,"line":2301},85,[146,2303,2159],{"class":990},[146,2305,2306],{"class":994}," nav2_speed_controller_bt_node\n",[146,2308,2310,2312],{"class":148,"line":2309},86,[146,2311,2159],{"class":990},[146,2313,2314],{"class":994}," nav2_truncate_path_action_bt_node\n",[146,2316,2318,2320],{"class":148,"line":2317},87,[146,2319,2159],{"class":990},[146,2321,2322],{"class":994}," nav2_truncate_path_local_action_bt_node\n",[146,2324,2326,2328],{"class":148,"line":2325},88,[146,2327,2159],{"class":990},[146,2329,2330],{"class":994}," nav2_goal_updater_node_bt_node\n",[146,2332,2334,2336],{"class":148,"line":2333},89,[146,2335,2159],{"class":990},[146,2337,2338],{"class":994}," nav2_recovery_node_bt_node\n",[146,2340,2342,2344],{"class":148,"line":2341},90,[146,2343,2159],{"class":990},[146,2345,2346],{"class":994}," nav2_pipeline_sequence_bt_node\n",[146,2348,2350,2352],{"class":148,"line":2349},91,[146,2351,2159],{"class":990},[146,2353,2354],{"class":994}," nav2_round_robin_node_bt_node\n",[146,2356,2358,2360],{"class":148,"line":2357},92,[146,2359,2159],{"class":990},[146,2361,2362],{"class":994}," nav2_transform_available_condition_bt_node\n",[146,2364,2366,2368],{"class":148,"line":2365},93,[146,2367,2159],{"class":990},[146,2369,2370],{"class":994}," nav2_time_expired_condition_bt_node\n",[146,2372,2374,2376],{"class":148,"line":2373},94,[146,2375,2159],{"class":990},[146,2377,2378],{"class":994}," nav2_path_expiring_timer_condition\n",[146,2380,2382,2384],{"class":148,"line":2381},95,[146,2383,2159],{"class":990},[146,2385,2386],{"class":994}," nav2_distance_traveled_condition_bt_node\n",[146,2388,2390,2392],{"class":148,"line":2389},96,[146,2391,2159],{"class":990},[146,2393,2394],{"class":994}," nav2_single_trigger_bt_node\n",[146,2396,2398,2400],{"class":148,"line":2397},97,[146,2399,2159],{"class":990},[146,2401,2402],{"class":994}," nav2_is_battery_low_condition_bt_node\n",[146,2404,2406,2408],{"class":148,"line":2405},98,[146,2407,2159],{"class":990},[146,2409,2410],{"class":994}," nav2_navigate_through_poses_action_bt_node\n",[146,2412,2414,2416],{"class":148,"line":2413},99,[146,2415,2159],{"class":990},[146,2417,2418],{"class":994}," nav2_navigate_to_pose_action_bt_node\n",[146,2420,2422,2424],{"class":148,"line":2421},100,[146,2423,2159],{"class":990},[146,2425,2426],{"class":994}," nav2_remove_passed_goals_action_bt_node\n",[146,2428,2430,2432],{"class":148,"line":2429},101,[146,2431,2159],{"class":990},[146,2433,2434],{"class":994}," nav2_planner_selector_bt_node\n",[146,2436,2438,2440],{"class":148,"line":2437},102,[146,2439,2159],{"class":990},[146,2441,2442],{"class":994}," nav2_controller_selector_bt_node\n",[146,2444,2446,2448],{"class":148,"line":2445},103,[146,2447,2159],{"class":990},[146,2449,2450],{"class":994}," nav2_goal_checker_selector_bt_node\n",[146,2452,2454,2456],{"class":148,"line":2453},104,[146,2455,2159],{"class":990},[146,2457,2458],{"class":994}," nav2_controller_cancel_bt_node\n",[146,2460,2462,2464],{"class":148,"line":2461},105,[146,2463,2159],{"class":990},[146,2465,2466],{"class":994}," nav2_path_longer_on_approach_bt_node\n",[146,2468,2470,2472],{"class":148,"line":2469},106,[146,2471,2159],{"class":990},[146,2473,2474],{"class":994}," nav2_wait_cancel_bt_node\n",[146,2476,2478,2480],{"class":148,"line":2477},107,[146,2479,2159],{"class":990},[146,2481,2482],{"class":994}," nav2_spin_cancel_bt_node\n",[146,2484,2486,2488],{"class":148,"line":2485},108,[146,2487,2159],{"class":990},[146,2489,2490],{"class":994}," nav2_back_up_cancel_bt_node\n",[146,2492,2494,2496],{"class":148,"line":2493},109,[146,2495,2159],{"class":990},[146,2497,2498],{"class":994}," nav2_drive_on_heading_cancel_bt_node\n",[146,2500,2502],{"class":148,"line":2501},110,[146,2503,1001],{"emptyLinePlaceholder":1000},[146,2505,2507],{"class":148,"line":2506},111,[146,2508,2509],{"class":994},"bt_navigator_rclcpp_node:\n",[146,2511,2513],{"class":148,"line":2512},112,[146,2514,1706],{"class":994},[146,2516,2518],{"class":148,"line":2517},113,[146,2519,1711],{"class":994},[146,2521,2523],{"class":148,"line":2522},114,[146,2524,1001],{"emptyLinePlaceholder":1000},[146,2526,2528],{"class":148,"line":2527},115,[146,2529,2530],{"class":994},"controller_server:\n",[146,2532,2534],{"class":148,"line":2533},116,[146,2535,1706],{"class":994},[146,2537,2539],{"class":148,"line":2538},117,[146,2540,1711],{"class":994},[146,2542,2544,2547],{"class":148,"line":2543},118,[146,2545,2546],{"class":994}," controller_frequency: ",[146,2548,2549],{"class":169},"20.0\n",[146,2551,2553,2556],{"class":148,"line":2552},119,[146,2554,2555],{"class":994}," min_x_velocity_threshold: ",[146,2557,2558],{"class":169},"0.001\n",[146,2560,2562,2565],{"class":148,"line":2561},120,[146,2563,2564],{"class":994}," min_y_velocity_threshold: ",[146,2566,1763],{"class":169},[146,2568,2570,2573],{"class":148,"line":2569},121,[146,2571,2572],{"class":994}," min_theta_velocity_threshold: ",[146,2574,2558],{"class":169},[146,2576,2578,2581],{"class":148,"line":2577},122,[146,2579,2580],{"class":994}," failure_tolerance: ",[146,2582,1779],{"class":169},[146,2584,2586,2589],{"class":148,"line":2585},123,[146,2587,2588],{"class":994}," progress_checker_plugin: ",[146,2590,2591],{"class":156},"\"progress_checker\"\n",[146,2593,2595,2598,2601,2604],{"class":148,"line":2594},124,[146,2596,2597],{"class":994}," goal_checker_plugins: [",[146,2599,2600],{"class":156},"\"general_goal_checker\"",[146,2602,2603],{"class":994},"] ",[146,2605,2606],{"class":1090},"# \"precise_goal_checker\"\n",[146,2608,2610,2613,2616],{"class":148,"line":2609},125,[146,2611,2612],{"class":994}," controller_plugins: [",[146,2614,2615],{"class":156},"\"FollowPath\"",[146,2617,2618],{"class":994},"]\n",[146,2620,2622],{"class":148,"line":2621},126,[146,2623,1001],{"emptyLinePlaceholder":1000},[146,2625,2627],{"class":148,"line":2626},127,[146,2628,2629],{"class":1090}," # Progress checker parameters\n",[146,2631,2633],{"class":148,"line":2632},128,[146,2634,2635],{"class":994}," progress_checker:\n",[146,2637,2639,2642],{"class":148,"line":2638},129,[146,2640,2641],{"class":994}," plugin: ",[146,2643,2644],{"class":156},"\"nav2_controller::SimpleProgressChecker\"\n",[146,2646,2648,2651],{"class":148,"line":2647},130,[146,2649,2650],{"class":994}," required_movement_radius: ",[146,2652,1763],{"class":169},[146,2654,2656,2659],{"class":148,"line":2655},131,[146,2657,2658],{"class":994}," movement_time_allowance: ",[146,2660,2661],{"class":169},"10.0\n",[146,2663,2665],{"class":148,"line":2664},132,[146,2666,1001],{"emptyLinePlaceholder":1000},[146,2668,2670],{"class":148,"line":2669},133,[146,2671,2672],{"class":1090}," # Goal checker parameters\n",[146,2674,2676],{"class":148,"line":2675},134,[146,2677,2678],{"class":1090}," #precise_goal_checker:\n",[146,2680,2682],{"class":148,"line":2681},135,[146,2683,1001],{"emptyLinePlaceholder":1000},[146,2685,2687],{"class":148,"line":2686},136,[146,2688,2689],{"class":1090}," # plugin: \"nav2_controller::SimpleGoalChecker\"\n",[146,2691,2693],{"class":148,"line":2692},137,[146,2694,1001],{"emptyLinePlaceholder":1000},[146,2696,2698],{"class":148,"line":2697},138,[146,2699,2700],{"class":1090}," # xy_goal_tolerance: 0.25\n",[146,2702,2704],{"class":148,"line":2703},139,[146,2705,1001],{"emptyLinePlaceholder":1000},[146,2707,2709],{"class":148,"line":2708},140,[146,2710,2711],{"class":1090}," # yaw_goal_tolerance: 0.25\n",[146,2713,2715],{"class":148,"line":2714},141,[146,2716,1001],{"emptyLinePlaceholder":1000},[146,2718,2720],{"class":148,"line":2719},142,[146,2721,2722],{"class":1090}," # stateful: True\n",[146,2724,2726],{"class":148,"line":2725},143,[146,2727,2728],{"class":994}," general_goal_checker:\n",[146,2730,2732,2735],{"class":148,"line":2731},144,[146,2733,2734],{"class":994}," stateful: ",[146,2736,2737],{"class":169},"True\n",[146,2739,2741,2743],{"class":148,"line":2740},145,[146,2742,2641],{"class":994},[146,2744,2745],{"class":156},"\"nav2_controller::SimpleGoalChecker\"\n",[146,2747,2749,2752],{"class":148,"line":2748},146,[146,2750,2751],{"class":994}," xy_goal_tolerance: ",[146,2753,1957],{"class":169},[146,2755,2757,2760],{"class":148,"line":2756},147,[146,2758,2759],{"class":994}," yaw_goal_tolerance: ",[146,2761,1957],{"class":169},[146,2763,2765],{"class":148,"line":2764},148,[146,2766,1001],{"emptyLinePlaceholder":1000},[146,2768,2770],{"class":148,"line":2769},149,[146,2771,2772],{"class":1090}," # DWB parameters\n",[146,2774,2776],{"class":148,"line":2775},150,[146,2777,2778],{"class":994}," FollowPath:\n",[146,2780,2782,2784],{"class":148,"line":2781},151,[146,2783,2641],{"class":994},[146,2785,2786],{"class":156},"\"dwb_core::DWBLocalPlanner\"\n",[146,2788,2790,2793],{"class":148,"line":2789},152,[146,2791,2792],{"class":994}," debug_trajectory_details: ",[146,2794,2737],{"class":169},[146,2796,2798,2801],{"class":148,"line":2797},153,[146,2799,2800],{"class":994}," min_vel_x: ",[146,2802,1891],{"class":169},[146,2804,2806,2809],{"class":148,"line":2805},154,[146,2807,2808],{"class":994}," min_vel_y: ",[146,2810,1891],{"class":169},[146,2812,2814,2817],{"class":148,"line":2813},155,[146,2815,2816],{"class":994}," max_vel_x: ",[146,2818,2819],{"class":169},"0.26\n",[146,2821,2823,2826],{"class":148,"line":2822},156,[146,2824,2825],{"class":994}," max_vel_y: ",[146,2827,1891],{"class":169},[146,2829,2831,2834],{"class":148,"line":2830},157,[146,2832,2833],{"class":994}," max_vel_theta: ",[146,2835,1827],{"class":169},[146,2837,2839,2842],{"class":148,"line":2838},158,[146,2840,2841],{"class":994}," min_speed_xy: ",[146,2843,1891],{"class":169},[146,2845,2847,2850],{"class":148,"line":2846},159,[146,2848,2849],{"class":994}," max_speed_xy: ",[146,2851,2819],{"class":169},[146,2853,2855,2858],{"class":148,"line":2854},160,[146,2856,2857],{"class":994}," min_speed_theta: ",[146,2859,1891],{"class":169},[146,2861,2863],{"class":148,"line":2862},161,[146,2864,1001],{"emptyLinePlaceholder":1000},[146,2866,2868],{"class":148,"line":2867},162,[146,2869,2870],{"class":1090}," # Add high threshold velocity for turtlebot 3 issue.\n",[146,2872,2874],{"class":148,"line":2873},163,[146,2875,1001],{"emptyLinePlaceholder":1000},[146,2877,2879],{"class":148,"line":2878},164,[146,2880,2881],{"class":1090}," # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75\n",[146,2883,2885,2888],{"class":148,"line":2884},165,[146,2886,2887],{"class":994}," acc_lim_x: ",[146,2889,2890],{"class":169},"2.5\n",[146,2892,2894,2897],{"class":148,"line":2893},166,[146,2895,2896],{"class":994}," acc_lim_y: ",[146,2898,1891],{"class":169},[146,2900,2902,2905],{"class":148,"line":2901},167,[146,2903,2904],{"class":994}," acc_lim_theta: ",[146,2906,2907],{"class":169},"3.2\n",[146,2909,2911,2914,2916],{"class":148,"line":2910},168,[146,2912,2913],{"class":994}," decel_lim_x: ",[146,2915,1824],{"class":990},[146,2917,2890],{"class":169},[146,2919,2921,2924],{"class":148,"line":2920},169,[146,2922,2923],{"class":994}," decel_lim_y: 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[",[146,3032,3033],{"class":156},"\"RotateToGoal\"",[146,3035,1169],{"class":994},[146,3037,3038],{"class":156},"\"Oscillation\"",[146,3040,1169],{"class":994},[146,3042,3043],{"class":156},"\"BaseObstacle\"",[146,3045,1169],{"class":994},[146,3047,3048],{"class":156},"\"GoalAlign\"",[146,3050,1169],{"class":994},[146,3052,3053],{"class":156},"\"PathAlign\"",[146,3055,1169],{"class":994},[146,3057,3058],{"class":156},"\"PathDist\"",[146,3060,1169],{"class":994},[146,3062,3063],{"class":156},"\"GoalDist\"",[146,3065,2618],{"class":994},[146,3067,3069,3072],{"class":148,"line":3068},183,[146,3070,3071],{"class":994}," BaseObstacle.scale: ",[146,3073,3074],{"class":169},"0.02\n",[146,3076,3078,3081],{"class":148,"line":3077},184,[146,3079,3080],{"class":994}," PathAlign.scale: ",[146,3082,3083],{"class":169},"32.0\n",[146,3085,3087,3090],{"class":148,"line":3086},185,[146,3088,3089],{"class":994}," PathAlign.forward_point_distance: 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",[146,3149,1824],{"class":990},[146,3151,1827],{"class":169},[146,3153,3155],{"class":148,"line":3154},193,[146,3156,1001],{"emptyLinePlaceholder":1000},[146,3158,3160],{"class":148,"line":3159},194,[146,3161,3162],{"class":994},"controller_server_rclcpp_node:\n",[146,3164,3166],{"class":148,"line":3165},195,[146,3167,1706],{"class":994},[146,3169,3171],{"class":148,"line":3170},196,[146,3172,1711],{"class":994},[146,3174,3176],{"class":148,"line":3175},197,[146,3177,1001],{"emptyLinePlaceholder":1000},[146,3179,3181],{"class":148,"line":3180},198,[146,3182,3183],{"class":994},"local_costmap:\n",[146,3185,3187],{"class":148,"line":3186},199,[146,3188,3189],{"class":994}," local_costmap:\n",[146,3191,3193],{"class":148,"line":3192},200,[146,3194,3195],{"class":994}," ros__parameters:\n",[146,3197,3199,3202],{"class":148,"line":3198},201,[146,3200,3201],{"class":994}," update_frequency: 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",[146,3260,1875],{"class":169},[146,3262,3264,3267],{"class":148,"line":3263},210,[146,3265,3266],{"class":994}," robot_radius: ",[146,3268,3269],{"class":169},"0.22\n",[146,3271,3273,3276,3279,3281,3284,3286,3289,3291,3294],{"class":148,"line":3272},211,[146,3274,3275],{"class":994}," plugins: [",[146,3277,3278],{"class":156},"\"static_layer\"",[146,3280,1169],{"class":994},[146,3282,3283],{"class":156},"\"obstacle_layer\"",[146,3285,1169],{"class":994},[146,3287,3288],{"class":156},"\"voxel_layer\"",[146,3290,1169],{"class":994},[146,3292,3293],{"class":156},"\"inflation_layer\"",[146,3295,2618],{"class":994},[146,3297,3299],{"class":148,"line":3298},212,[146,3300,3301],{"class":994}," inflation_layer:\n",[146,3303,3305,3308],{"class":148,"line":3304},213,[146,3306,3307],{"class":994}," plugin: ",[146,3309,3310],{"class":156},"\"nav2_costmap_2d::InflationLayer\"\n",[146,3312,3314,3317],{"class":148,"line":3313},214,[146,3315,3316],{"class":994}," cost_scaling_factor: ",[146,3318,3319],{"class":169},"3.0\n",[146,3321,3323,3326],{"class":148,"line":3322},215,[146,3324,3325],{"class":994}," inflation_radius: ",[146,3327,3328],{"class":169},"0.55\n",[146,3330,3332],{"class":148,"line":3331},216,[146,3333,3334],{"class":994}," obstacle_layer:\n",[146,3336,3338,3340],{"class":148,"line":3337},217,[146,3339,3307],{"class":994},[146,3341,3342],{"class":156},"\"nav2_costmap_2d::ObstacleLayer\"\n",[146,3344,3346,3349],{"class":148,"line":3345},218,[146,3347,3348],{"class":994}," enabled: ",[146,3350,2737],{"class":169},[146,3352,3354],{"class":148,"line":3353},219,[146,3355,3356],{"class":994}," observation_sources: scan\n",[146,3358,3360],{"class":148,"line":3359},220,[146,3361,3362],{"class":994}," scan:\n",[146,3364,3366,3369,3371],{"class":148,"line":3365},221,[146,3367,3368],{"class":994}," topic: ",[146,3370,2082],{"class":990},[146,3372,3373],{"class":994},"scan\n",[146,3375,3377,3380],{"class":148,"line":3376},222,[146,3378,3379],{"class":994}," max_obstacle_height: ",[146,3381,1808],{"class":169},[146,3383,3385,3388],{"class":148,"line":3384},223,[146,3386,3387],{"class":994}," clearing: ",[146,3389,2737],{"class":169},[146,3391,3393,3396],{"class":148,"line":3392},224,[146,3394,3395],{"class":994}," marking: ",[146,3397,2737],{"class":169},[146,3399,3401,3404],{"class":148,"line":3400},225,[146,3402,3403],{"class":994}," data_type: ",[146,3405,3406],{"class":156},"\"LaserScan\"\n",[146,3408,3410,3413],{"class":148,"line":3409},226,[146,3411,3412],{"class":994}," raytrace_max_range: ",[146,3414,3319],{"class":169},[146,3416,3418,3421],{"class":148,"line":3417},227,[146,3419,3420],{"class":994}," raytrace_min_range: ",[146,3422,1891],{"class":169},[146,3424,3426,3429],{"class":148,"line":3425},228,[146,3427,3428],{"class":994}," obstacle_max_range: ",[146,3430,2890],{"class":169},[146,3432,3434,3437],{"class":148,"line":3433},229,[146,3435,3436],{"class":994}," obstacle_min_range: 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max_obstacle_height: ",[146,3500,1808],{"class":169},[146,3502,3504,3507],{"class":148,"line":3503},238,[146,3505,3506],{"class":994}," mark_threshold: 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