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amcl:

ros__parameters:

use_sim_time: False

alpha1: 0.2

alpha2: 0.2

alpha3: 0.2

alpha4: 0.2

alpha5: 0.2

base_frame_id: "base_footprint"

beam_skip_distance: 0.5

beam_skip_error_threshold: 0.9

beam_skip_threshold: 0.3

do_beamskip: false

global_frame_id: "map"

lambda_short: 0.1

laser_likelihood_max_dist: 2.0

laser_max_range: 100.0

laser_min_range: -1.0

laser_model_type: "likelihood_field"

max_beams: 60

max_particles: 2000

min_particles: 500

odom_frame_id: "odom"

pf_err: 0.05

pf_z: 0.99

recovery_alpha_fast: 0.0

recovery_alpha_slow: 0.0

resample_interval: 1

robot_model_type: "nav2_amcl::DifferentialMotionModel"

robot_model_type: "differential"

save_pose_rate: 0.5

sigma_hit: 0.2

tf_broadcast: true

transform_tolerance: 1.0

update_min_a: 0.2

update_min_d: 0.25

z_hit: 0.5

z_max: 0.05

z_rand: 0.5

z_short: 0.05

scan_topic: scan

amcl_map_client:

ros__parameters:

use_sim_time: False

amcl_rclcpp_node:

ros__parameters:

use_sim_time: False

bt_navigator:

ros__parameters:

use_sim_time: False

global_frame: map

robot_base_frame: base_link

odom_topic: /odom

bt_loop_duration: 10

default_server_timeout: 20

default_bt_xml_filename: /opt/ros/BIRDSEYE_WS/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml

default_bt_xml_filename: /home/raven/Birdseye/src/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml

default_nav_to_pose_bt_xml: /opt/ros/BIRDSEYE_WS/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml

default_nav_to_pose_bt_xml: /home/raven/Birdseye/src/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml

default_nav_through_poses_bt_xml: /opt/ros/BIRDSEYE_WS/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml

default_nav_through_poses_bt_xml: /home/raven/Birdseye/src/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml

enable_groot_monitoring: True

enable_groot_monitoring: False

groot_zmq_publisher_port: 1666

groot_zmq_server_port: 1667

# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:

# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml

# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml

# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.

plugin_lib_names:

- nav2_compute_path_to_pose_action_bt_node

# - nav2_compute_path_through_poses_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_back_up_action_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_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_is_battery_low_condition_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

bt_navigator_rclcpp_node:

ros__parameters:

use_sim_time: False

controller_server:

ros__parameters:

use_sim_time: False

controller_frequency: 20.0

min_x_velocity_threshold: 0.001

min_y_velocity_threshold: 0.5

min_theta_velocity_threshold: 0.001

failure_tolerance: 0.3

odom_topic: "odom"

progress_checker_plugin: "progress_checker"

goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"

controller_plugins: ["FollowPath"]

# Progress checker parameters

progress_checker:

plugin: "nav2_controller::SimpleProgressChecker"

required_movement_radius: 0.5

movement_time_allowance: 10.0

# Goal checker parameters

#precise_goal_checker:

# plugin: "nav2_controller::SimpleGoalChecker"

# xy_goal_tolerance: 0.25

# yaw_goal_tolerance: 0.25

# stateful: True

general_goal_checker:

stateful: True

plugin: "nav2_controller::SimpleGoalChecker"

xy_goal_tolerance: 0.25

yaw_goal_tolerance: 0.25

# DWB parameters

FollowPath:

plugin: "dwb_core::DWBLocalPlanner"

debug_trajectory_details: True

min_vel_x: 0.0

min_vel_y: 0.0

max_vel_x: 0.26

max_vel_y: 0.0

max_vel_theta: 1.0

max_vel_theta: 0.3

min_speed_xy: 0.0

max_speed_xy: 0.26

min_speed_theta: 0.0

# Add high threshold velocity for turtlebot 3 issue.

# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75

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

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"]

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

controller_server_rclcpp_node:

ros__parameters:

use_sim_time: False

local_costmap:

ros__parameters:

update_frequency: 5.0

publish_frequency: 2.0

global_frame: odom

robot_base_frame: base_link

use_sim_time: False

rolling_window: true

width: 3

height: 3

resolution: 0.05

robot_radius: 0.22

plugins: ["voxel_layer", "inflation_layer"]

plugins: ["inflation_layer"]

inflation_layer:

plugin: "nav2_costmap_2d::InflationLayer"

cost_scaling_factor: 3.0

inflation_radius: 0.55

voxel_layer:

# voxel_layer:

plugin: "nav2_costmap_2d::VoxelLayer"

# plugin: "nav2_costmap_2d::VoxelLayer"

enabled: True

# enabled: False

publish_voxel_map: True

# publish_voxel_map: True

origin_z: 0.0

# origin_z: 0.0

z_resolution: 0.05

# z_resolution: 0.05

z_voxels: 16

# z_voxels: 16

max_obstacle_height: 2.0

# max_obstacle_height: 2.0

mark_threshold: 0

# mark_threshold: 0

observation_sources: scan

# observation_sources: scan

scan:

# scan:

topic: /scan

# topic: /scan

max_obstacle_height: 2.0

# max_obstacle_height: 2.0

clearing: True

# clearing: True

marking: True

# marking: True

data_type: "LaserScan"

# data_type: "LaserScan"

raytrace_max_range: 3.0

# raytrace_max_range: 3.0

raytrace_min_range: 0.0

# raytrace_min_range: 0.0

obstacle_max_range: 2.5

# obstacle_max_range: 2.5

obstacle_min_range: 0.0

# obstacle_min_range: 0.0

static_layer:

map_subscribe_transient_local: True

always_send_full_costmap: True

local_costmap_client:

ros__parameters:

use_sim_time: False

local_costmap_rclcpp_node:

ros__parameters:

use_sim_time: False

global_costmap:

ros__parameters:

update_frequency: 1.0

publish_frequency: 1.0

global_frame: map

robot_base_frame: base_link

use_sim_time: False

robot_radius: 0.22

resolution: 0.05

track_unknown_space: true

plugins: ["static_layer", "inflation_layer"]

# obstacle_layer:

# plugin: "nav2_costmap_2d::ObstacleLayer"

# enabled: False

# observation_sources: scan

# scan:

# topic: /scan

# max_obstacle_height: 2.0

# clearing: True

# marking: True

# data_type: "LaserScan"

# raytrace_max_range: 3.0

# raytrace_min_range: 0.0

# obstacle_max_range: 2.5

# obstacle_min_range: 0.0

static_layer:

plugin: "nav2_costmap_2d::StaticLayer"

map_subscribe_transient_local: True

inflation_layer:

plugin: "nav2_costmap_2d::InflationLayer"

cost_scaling_factor: 3.0

inflation_radius: 0.55

always_send_full_costmap: True

global_costmap_client:

ros__parameters:

use_sim_time: False

global_costmap_rclcpp_node:

ros__parameters:

use_sim_time: False

map_server:

ros__parameters:

use_sim_time: False

yaml_filename: "turtlebot3_world.yaml"

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

planner_server:

ros__parameters:

expected_planner_frequency: 20.0

use_sim_time: False

planner_plugins: ["GridBased"]

GridBased:

plugin: "nav2_navfn_planner/NavfnPlanner"

tolerance: 0.5

use_astar: false

allow_unknown: true

planner_server_rclcpp_node:

ros__parameters:

use_sim_time: False

smoother_server:

recoveries_server:

ros__parameters:

costmap_topic: local_costmap/costmap_raw

footprint_topic: local_costmap/published_footprint

cycle_frequency: 10.0

recovery_plugins: ["spin", "backup", "wait"]

spin:

plugin: "nav2_recoveries/Spin"

backup:

plugin: "nav2_recoveries/BackUp"

wait:

plugin: "nav2_recoveries/Wait"

global_frame: odom

robot_base_frame: base_link

transform_timeout: 0.1

use_sim_time: False

smoother_plugins: ["simple_smoother"]

simulate_ahead_time: 2.0

simple_smoother:

max_rotational_vel: 1.0

plugin: "nav2_smoother::SimpleSmoother"

min_rotational_vel: 0.4

tolerance: 1.0e-10

rotational_acc_lim: 3.2

max_its: 1000

do_refinement: True

robot_state_publisher:

ros__parameters:

use_sim_time: False

waypoint_follower:

ros__parameters:

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

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amcl:
  ros__parameters:
    use_sim_time: False
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "nav2_amcl::DifferentialMotionModel"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan

amcl_map_client:
  ros__parameters:
    use_sim_time: False

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: False

bt_navigator:
  ros__parameters:
    use_sim_time: False
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    default_bt_xml_filename: /opt/ros/BIRDSEYE_WS/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml
    default_nav_to_pose_bt_xml: /opt/ros/BIRDSEYE_WS/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml
    default_nav_through_poses_bt_xml: /opt/ros/BIRDSEYE_WS/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
    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_back_up_action_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_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_is_battery_low_condition_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

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: False

controller_server:
  ros__parameters:
    use_sim_time: False
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    failure_tolerance: 0.3
    odom_topic: "odom"
    progress_checker_plugin: "progress_checker"
    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
    controller_plugins: ["FollowPath"]

    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    # Goal checker parameters
    #precise_goal_checker:
    #  plugin: "nav2_controller::SimpleGoalChecker"
    #  xy_goal_tolerance: 0.25
    #  yaw_goal_tolerance: 0.25
    #  stateful: True
    general_goal_checker:
      stateful: True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 0.26
      max_vel_y: 0.0
      max_vel_theta: 1.0
      min_speed_xy: 0.0
      max_speed_xy: 0.26
      min_speed_theta: 0.0
      # Add high threshold velocity for turtlebot 3 issue.
      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
      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
      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

controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: False

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: False
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.22
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: False
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: False

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: False
      robot_radius: 0.22
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "inflation_layer"]
      # obstacle_layer:
      #   plugin: "nav2_costmap_2d::ObstacleLayer"
      #   enabled: False
      #   observation_sources: scan
      #   scan:
      #     topic: /scan
      #     max_obstacle_height: 2.0
      #     clearing: True
      #     marking: True
      #     data_type: "LaserScan"
      #     raytrace_max_range: 3.0
      #     raytrace_min_range: 0.0
      #     obstacle_max_range: 2.5
      #     obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      always_send_full_costmap: True
  global_costmap_client:
    ros__parameters:
      use_sim_time: False
  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: False

map_server:
  ros__parameters:
    use_sim_time: False
    yaml_filename: "turtlebot3_world.yaml"

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

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    use_sim_time: False
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

planner_server_rclcpp_node:
  ros__parameters:
    use_sim_time: False

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

robot_state_publisher:
  ros__parameters:
    use_sim_time: False

waypoint_follower:
  ros__parameters:
    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

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amcl:
  ros__parameters:
    use_sim_time: False
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "differential"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan

amcl_map_client:
  ros__parameters:
    use_sim_time: False

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: False

bt_navigator:
  ros__parameters:
    use_sim_time: False
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    default_bt_xml_filename: /home/raven/Birdseye/src/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml
    default_nav_to_pose_bt_xml: /home/raven/Birdseye/src/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml
    default_nav_through_poses_bt_xml: /home/raven/Birdseye/src/auto/caretaker_nav/bt_configs/navigate_w_replanning_time.xml
    enable_groot_monitoring: False
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
    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_back_up_action_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_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_is_battery_low_condition_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

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: False

controller_server:
  ros__parameters:
    use_sim_time: False
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    failure_tolerance: 0.3
    odom_topic: "odom"
    progress_checker_plugin: "progress_checker"
    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
    controller_plugins: ["FollowPath"]

    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    # Goal checker parameters
    #precise_goal_checker:
    #  plugin: "nav2_controller::SimpleGoalChecker"
    #  xy_goal_tolerance: 0.25
    #  yaw_goal_tolerance: 0.25
    #  stateful: True
    general_goal_checker:
      stateful: True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 0.26
      max_vel_y: 0.0
      max_vel_theta: 0.3
      min_speed_xy: 0.0
      max_speed_xy: 0.26
      min_speed_theta: 0.0
      # Add high threshold velocity for turtlebot 3 issue.
      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
      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
      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

controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: False

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: False
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.22
      plugins: ["inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      # voxel_layer:
      #   plugin: "nav2_costmap_2d::VoxelLayer"
      #   enabled: False
      #   publish_voxel_map: True
      #   origin_z: 0.0
      #   z_resolution: 0.05
      #   z_voxels: 16
      #   max_obstacle_height: 2.0
      #   mark_threshold: 0
      #   observation_sources: scan
      #   scan:
      #     topic: /scan
      #     max_obstacle_height: 2.0
      #     clearing: True
      #     marking: True
      #     data_type: "LaserScan"
      #     raytrace_max_range: 3.0
      #     raytrace_min_range: 0.0
      #     obstacle_max_range: 2.5
      #     obstacle_min_range: 0.0
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: False
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: False

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: False
      robot_radius: 0.22
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "inflation_layer"]
      # obstacle_layer:
      #   plugin: "nav2_costmap_2d::ObstacleLayer"
      #   enabled: False
      #   observation_sources: scan
      #   scan:
      #     topic: /scan
      #     max_obstacle_height: 2.0
      #     clearing: True
      #     marking: True
      #     data_type: "LaserScan"
      #     raytrace_max_range: 3.0
      #     raytrace_min_range: 0.0
      #     obstacle_max_range: 2.5
      #     obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      always_send_full_costmap: True
  global_costmap_client:
    ros__parameters:
      use_sim_time: False
  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: False

map_server:
  ros__parameters:
    use_sim_time: False
    yaml_filename: "turtlebot3_world.yaml"

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

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    use_sim_time: False
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

planner_server_rclcpp_node:
  ros__parameters:
    use_sim_time: False

recoveries_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    recovery_plugins: ["spin", "backup", "wait"]
    spin:
      plugin: "nav2_recoveries/Spin"
    backup:
      plugin: "nav2_recoveries/BackUp"
    wait:
      plugin: "nav2_recoveries/Wait"
    global_frame: odom
    robot_base_frame: base_link
    transform_timeout: 0.1
    use_sim_time: False
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

robot_state_publisher:
  ros__parameters:
    use_sim_time: False

waypoint_follower:
  ros__parameters:
    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