nav2_params.yaml

ign_sim_pointcloud_tool:
  ros__parameters:
    pcd_topic: livox/lidar
    n_scan: 32
    horizon_scan: 1875
    ang_bottom: 7.0
    ang_res_y: 1.84375  # (7+52) / 32

point_lio:
  ros__parameters:
    use_imu_as_input: False                             # Change to True to use IMU as input of Point-LIO
    prop_at_freq_of_imu: True
    check_satu: True
    init_map_size: 10
    point_filter_num: 8                                 # Options: 4, 3
    space_down_sample: True
    filter_size_surf: 0.5                               # Options: 0.5, 0.3, 0.2, 0.15, 0.1
    filter_size_map: 0.5                                # Options: 0.5, 0.3, 0.15, 0.1
    ivox_nearby_type: 18                                # Options: 0, 6, 18, 26
    runtime_pos_log_enable: False                       # Option: True

    common:
      lid_topic: "velodyne_points"
      imu_topic: "livox/imu"
      con_frame: False                                  # True: if you need to combine several LiDAR frames into one
      con_frame_num: 1                                  # the number of frames combined
      cut_frame: False                                  # True: if you need to cut one LiDAR frame into several subframes
      cut_frame_time_interval: 0.05                     # should be integral fraction of 1 / LiDAR frequency
      time_diff_lidar_to_imu: 0.0                       # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme)

    prior_pcd:
      enable: False
      # NOTE: `prior_pcd_map_path` will be provided in the launch file
      # prior_pcd_map_path: ""
      init_pose: [ 0.0, 0.0, 0.0 ]

    preprocess:
      lidar_type: 2                                     # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR
      scan_line: 32
      timestamp_unit: 2                                 # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
      blind: 0.5

    mapping:
      imu_en: True
      extrinsic_est_en: False                           # for aggressive motion, set this variable False
      imu_time_inte: 0.005                              # = 1 / frequency of IMU
      lidar_time_inte: 0.1
      satu_acc: 30.0                                    # the saturation value of IMU's acceleration. not related to the units
      satu_gyro: 35.0                                   # the saturation value of IMU's angular velocity. not related to the units
      acc_norm: 9.81                                    # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration
      lidar_meas_cov: 0.001                             # 0.001
      acc_cov_output: 500.0
      gyr_cov_output: 1000.0
      b_acc_cov: 0.0001
      b_gyr_cov: 0.0001
      imu_meas_acc_cov: 0.1                             # 0.1 # 2
      imu_meas_omg_cov: 0.1                             # 0.1 # 2
      gyr_cov_input: 0.01                               # for IMU as input model
      acc_cov_input: 0.1                                # for IMU as input model
      plane_thr: 0.1                                    # 0.05, the threshold for plane criteria, the smaller, the flatter a plane
      match_s: 81.0
      ivox_grid_resolution: 0.5
      gravity: [ 0.0, -4.9, -8.487047153776548 ]        # gravity to be aligned # rpy = [0, pi/6, 0]
      gravity_init: [ 0.0, -4.9, -8.487047153776548 ]   # preknown gravity in the first IMU body frame, use when imu_en is False or start from a non-stationary state
      extrinsic_T: [ 0.0, 0.0, 0.0 ]
      extrinsic_R: [ 1.0, 0.0, 0.0,
                     0.0, 1.0, 0.0,
                     0.0, 0.0, 1.0 ]

    odometry:
      publish_odometry_without_downsample: True

    publish:
      path_en: False                                    # False: close the path output
      scan_publish_en: True                             # False: close all the point cloud output
      scan_bodyframe_pub_en: False                      # True: output the point cloud scans in IMU-body-frame
      tf_send_en: False                                 # True: send transform from 'camera_init' to 'aft_mapped'

    pcd_save:
      pcd_save_en: False
      interval: -1                                      # how many LiDAR frames saved in each pcd file;
                                                        # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.

loam_interface:
  ros__parameters:
    use_sim_time: True
    state_estimation_topic: "aft_mapped_to_init"
    registered_scan_topic: "cloud_registered"
    odom_frame: "odom"
    base_frame: "base_footprint"
    lidar_frame: "front_mid360"

sensor_scan_generation:
  ros__parameters:
    use_sim_time: True
    lidar_frame: "front_mid360"
    base_frame: "base_footprint"
    robot_base_frame: "gimbal_yaw"

terrain_analysis:
  ros__parameters:
    sensor_frame: "front_mid360"
    scan_voxel_size: 0.05
    decay_time: 0.5
    no_decay_dis: 0.5
    clearing_dis: 8.0
    use_sorting: True
    quantile_z: 0.4
    consider_drop: False
    limit_ground_lift: False
    max_ground_lift: 0.3
    clear_dy_obs: True
    min_dy_obs_dis: 0.3
    min_dy_obs_angle: 0.0
    min_dy_obs_rel_z: -0.3
    abs_dy_obs_rel_z_thre: 0.2
    min_dy_obs_vfov: -28.0
    max_dy_obs_vfov: 33.0
    min_dy_obs_point_num: 1
    no_data_obstacle: False
    no_data_block_skip_num: 0
    min_block_point_num: 10
    vehicle_height: 0.5
    voxel_point_update_thre: 100
    voxel_time_update_thre: 1.0
    min_rel_z: -1.5
    max_rel_z: 0.5
    dis_ratio_z: 0.2

fake_vel_transform:
  ros__parameters:
    use_sim_time: True
    odom_topic: "odometry"
    robot_base_frame: "gimbal_yaw"
    fake_robot_base_frame: "gimbal_yaw_fake"
    input_cmd_vel_topic: "cmd_vel_nav2_result"
    output_cmd_vel_topic: "cmd_vel"
    spin_speed: 3.14

small_gicp_relocalization:
  ros__parameters:
    use_sim_time: True
    num_threads: 4
    num_neighbors: 10
    global_leaf_size: 0.25
    registered_leaf_size: 0.25
    max_dist_sq: 1.0
    map_frame: "map"
    odom_frame: "odom"
    base_frame: "base_footprint"
    robot_base_frame: "gimbal_yaw"
    lidar_frame: "front_mid360"
    # The prior_pcd_file does not need to be specified since it going to be set by defaults in launch.
    # prior_pcd_file: ""

bt_navigator:
  ros__parameters:
    use_sim_time: true
    global_frame: map
    robot_base_frame: gimbal_yaw_fake
    odom_topic: odometry
    bt_loop_duration: 10
    default_server_timeout: 100
    wait_for_service_timeout: 1000
    default_nav_to_pose_bt_xml: $(find-pkg-share pb2025_nav_bringup)/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml
    default_nav_through_poses_bt_xml: $(find-pkg-share pb2025_nav_bringup)/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml
    plugin_lib_names:
      - nav2_compute_path_to_pose_action_bt_node
      - nav2_compute_path_through_poses_action_bt_node
      - nav2_smooth_path_action_bt_node
      - nav2_follow_path_action_bt_node
      - nav2_spin_action_bt_node
      - nav2_wait_action_bt_node
      - nav2_assisted_teleop_action_bt_node
      - nav2_back_up_action_bt_node
      - nav2_drive_on_heading_bt_node
      - nav2_clear_costmap_service_bt_node
      - nav2_is_stuck_condition_bt_node
      - nav2_goal_reached_condition_bt_node
      - nav2_goal_updated_condition_bt_node
      - nav2_globally_updated_goal_condition_bt_node
      - nav2_is_path_valid_condition_bt_node
      - nav2_initial_pose_received_condition_bt_node
      - nav2_reinitialize_global_localization_service_bt_node
      - nav2_rate_controller_bt_node
      - nav2_distance_controller_bt_node
      - nav2_speed_controller_bt_node
      - nav2_truncate_path_action_bt_node
      - nav2_truncate_path_local_action_bt_node
      - nav2_goal_updater_node_bt_node
      - nav2_recovery_node_bt_node
      - nav2_pipeline_sequence_bt_node
      - nav2_round_robin_node_bt_node
      - nav2_transform_available_condition_bt_node
      - nav2_time_expired_condition_bt_node
      - nav2_path_expiring_timer_condition
      - nav2_distance_traveled_condition_bt_node
      - nav2_single_trigger_bt_node
      - nav2_goal_updated_controller_bt_node
      - nav2_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
      - nav2_assisted_teleop_cancel_bt_node
      - nav2_drive_on_heading_cancel_bt_node
      - nav2_is_battery_charging_condition_bt_node

controller_server:
  ros__parameters:
    use_sim_time: true
    odom_topic: odometry
    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
    progress_checker_plugins: ["progress_checker"]
    goal_checker_plugins: ["general_goal_checker"]
    controller_plugins: ["FollowPath"]
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    general_goal_checker:
      stateful: True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.15
      yaw_goal_tolerance: 6.28
    FollowPath:
      plugin: "pb_omni_pid_pursuit_controller::OmniPidPursuitController"
      translation_kp: 3.0
      translation_ki: 0.1
      translation_kd: 0.3
      rotation_kp: 3.0
      rotation_ki: 0.1
      rotation_kd: 0.3
      transform_tolerance: 0.1
      min_max_sum_error: 1.0
      lookahead_dist: 2.0
      use_velocity_scaled_lookahead_dist: true
      lookahead_time: 1.0
      min_lookahead_dist: 0.5
      max_lookahead_dist: 1.0
      use_interpolation: false
      use_rotate_to_heading: false
      use_rotate_to_heading_treshold: 0.1
      min_approach_linear_velocity: 0.5
      approach_velocity_scaling_dist: 1.0
      min_translation_speed: -2.5
      max_translation_speed: 2.5
      min_rotation_speed: -3.0
      max_rotation_speed: 3.0

local_costmap:
  local_costmap:
    ros__parameters:
      use_sim_time: true
      update_frequency: 10.0
      publish_frequency: 5.0
      global_frame: odom
      robot_base_frame: gimbal_yaw_fake
      rolling_window: true
      width: 5
      height: 5
      resolution: 0.05
      robot_radius: 0.2
      # plugins: ["static_layer", "voxel_layer", "inflation_layer"]
      # 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:
      #     # '<robot_namespace>' keyword shall be replaced with 'namespace' where user defined.
      #     # It doesn't need to start with '/'
      #     topic: <robot_namespace>/rplidar_a2/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: 0.5
      plugins: ["static_layer", "stvl_layer", "inflation_layer"]
      stvl_layer:
        plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
        # https://github.com/SteveMacenski/spatio_temporal_voxel_layer
        enabled:                  true
        voxel_decay:              0.2                               # 如果是线性衰减，单位为秒；如果是指数衰减，则为 e 的 n 次方
        decay_model:              0                                 # 衰减模型，0=线性，1=指数，-1=持久
        voxel_size:               0.05                              # 每个体素的尺寸，单位为米
        track_unknown_space:      true                              # default space is unknown
        mark_threshold:           0                                 # voxel height
        update_footprint_enabled: true
        combination_method:       1                                 # 1=max, 0=override
        origin_z:                 0.0                               # 单位为米
        publish_voxel_map:        false                             # default false, 是否发布体素地图
        transform_tolerance:      0.2                               # 单位为秒
        mapping_mode:             false                             # default off, saves map not for navigation
        map_save_duration:        60.0                              # default 60s, how often to autosave
        observation_sources:      mark clear
        mark:
          data_type: PointCloud2
          topic: <robot_namespace>/terrain_map
          marking: true
          clearing: false
          obstacle_range: 5.0                                       # meters
          min_obstacle_height: 0.2                                  # default 0, meters
          max_obstacle_height: 2.0                                  # default 3, meters
          expected_update_rate: 0.0                                 # default 0, if not updating at this rate at least, remove from buffer
          observation_persistence: 0.0                              # default 0, use all measurements taken during now-value, 0=latest
          inf_is_valid: false                                       # default false, for laser scans
          filter: "voxel"                                           # default passthrough, apply "voxel", "passthrough", or no filter to sensor data, recommend on
          voxel_min_points: 0                                       # default 0, minimum points per voxel for voxel filter
          clear_after_reading: true                                 # default false, clear the buffer after the layer gets readings from it
        clear:
          enabled: true                                             # default true, can be toggled on/off with associated service call
          data_type: PointCloud2
          topic: <robot_namespace>/terrain_map
          marking: false
          clearing: true
          max_z: 5.0                                                # default 10, meters
          min_z: 0.1                                                # default 0, meters
          vertical_fov_angle: 1.029                                 # 垂直视场角，单位为弧度，For 3D lidars it's the symmetric FOV about the planar axis.
          vertical_fov_padding: 0.05                                # 3D Lidar only. Default 0, in meters
          horizontal_fov_angle: 6.29                                # 3D 激光雷达水平视场角
          decay_acceleration: 5.0                                   # default 0, 1/s^2.
          model_type: 1                                             # 0=深度相机，1=3D激光雷达
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 4.0
        inflation_radius: 0.7
      always_send_full_costmap: True

global_costmap:
  global_costmap:
    ros__parameters:
      use_sim_time: true
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: map
      robot_base_frame: gimbal_yaw_fake
      robot_radius: 0.2
      resolution: 0.05
      track_unknown_space: true
      # plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      # obstacle_layer:
      #   plugin: "nav2_costmap_2d::ObstacleLayer"
      #   enabled: True
      #   observation_sources: scan
      #   scan:
      #     # '<robot_namespace>' keyword shall be replaced with 'namespace' where user defined.
      #     # It doesn't need to start with '/'
      #     topic: <robot_namespace>/rplidar_a2/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: 0.5
      plugins: ["static_layer", "stvl_layer", "inflation_layer"]
      stvl_layer:
        plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
        # https://github.com/SteveMacenski/spatio_temporal_voxel_layer
        enabled:                  true
        voxel_decay:              0.2                               # 如果是线性衰减，单位为秒；如果是指数衰减，则为 e 的 n 次方
        decay_model:              0                                 # 衰减模型，0=线性，1=指数，-1=持久
        voxel_size:               0.05                              # 每个体素的尺寸，单位为米
        track_unknown_space:      true                              # default space is unknown
        mark_threshold:           0                                 # voxel height
        update_footprint_enabled: true
        combination_method:       1                                 # 1=max, 0=override
        origin_z:                 0.0                               # 单位为米
        publish_voxel_map:        false                             # default false, 是否发布体素地图
        transform_tolerance:      0.2                               # 单位为秒
        mapping_mode:             false                             # default off, saves map not for navigation
        map_save_duration:        60.0                              # default 60s, how often to autosave
        observation_sources:      mark clear
        mark:
          data_type: PointCloud2
          topic: <robot_namespace>/terrain_map
          marking: true
          clearing: false
          obstacle_range: 10.0                                      # meters
          min_obstacle_height: 0.2                                  # default 0, meters
          max_obstacle_height: 2.0                                  # default 3, meters
          expected_update_rate: 0.0                                 # default 0, if not updating at this rate at least, remove from buffer
          observation_persistence: 0.0                              # default 0, use all measurements taken during now-value, 0=latest
          inf_is_valid: false                                       # default false, for laser scans
          filter: "voxel"                                           # default passthrough, apply "voxel", "passthrough", or no filter to sensor data, recommend on
          voxel_min_points: 0                                       # default 0, minimum points per voxel for voxel filter
          clear_after_reading: true                                 # default false, clear the buffer after the layer gets readings from it
        clear:
          enabled: true                                             # default true, can be toggled on/off with associated service call
          data_type: PointCloud2
          topic: <robot_namespace>/terrain_map
          marking: false
          clearing: true
          max_z: 5.0                                                # default 10, meters
          min_z: 0.1                                                # default 0, meters
          vertical_fov_angle: 1.029                                 # 垂直视场角，单位为弧度，For 3D lidars it's the symmetric FOV about the planar axis.
          vertical_fov_padding: 0.05                                # 3D Lidar only. Default 0, in meters
          horizontal_fov_angle: 6.29                                # 3D 激光雷达水平视场角
          decay_acceleration: 5.0                                   # default 0, 1/s^2.
          model_type: 1                                             # 0=深度相机，1=3D激光雷达
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 4.0
        inflation_radius: 0.7
      always_send_full_costmap: True

# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
map_server:
  ros__parameters:
    yaml_filename: ""

map_saver:
  ros__parameters:
    use_sim_time: true
    save_map_timeout: 5.0
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: True

planner_server:
  ros__parameters:
    use_sim_time: true
    expected_planner_frequency: 5.0
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

smoother_server:
  ros__parameters:
    use_sim_time: true
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: True

behavior_server:
  ros__parameters:
    use_sim_time: true
    local_costmap_topic: local_costmap/costmap_raw
    global_costmap_topic: global_costmap/costmap_raw
    local_footprint_topic: local_costmap/published_footprint
    global_footprint_topic: global_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"
    backup:
      plugin: "nav2_behaviors/BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors/DriveOnHeading"
    wait:
      plugin: "nav2_behaviors/Wait"
    assisted_teleop:
      plugin: "nav2_behaviors/AssistedTeleop"
    local_frame: odom
    global_frame: map
    robot_base_frame: gimbal_yaw_fake
    transform_tolerance: 0.1
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

waypoint_follower:
  ros__parameters:
    use_sim_time: true
    loop_rate: 20
    stop_on_failure: false
    waypoint_task_executor_plugin: "wait_at_waypoint"
    wait_at_waypoint:
      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
      enabled: True
      waypoint_pause_duration: 200

velocity_smoother:
  ros__parameters:
    use_sim_time: true
    smoothing_frequency: 20.0
    scale_velocities: False
    feedback: "OPEN_LOOP"
    max_velocity: [2.5, 2.5, 3.0]
    min_velocity: [-2.5, -2.5, -3.0]
    max_accel: [4.5, 4.5, 5.0]
    max_decel: [-4.5, -4.5, -5.0]
    odom_topic: "odometry"
    odom_duration: 0.1
    deadband_velocity: [0.0, 0.0, 0.0]
    velocity_timeout: 1.0

pb_teleop_twist_joy_node:
  ros__parameters:
    use_sim_time: true
    robot_base_frame: gimbal_yaw
    control_mode: auto_control    # Option: auto_control, manual_control

    require_enable_button: true
    enable_button: 4              # L1 shoulder button
    enable_turbo_button: 5        # R1 shoulder button

    axis_chassis:
      x: 1                        # Left thumb stick vertical
      y: 0                        # Left thumb stick horizontal
      yaw: 6                      # button_left and button_right
    scale_chassis:
      x: 2.5
      y: 2.5
      yaw: 3.0
    scale_chassis_turbo:
      x: 4.0
      y: 4.0
      yaw: 6.0

    axis_gimbal:
      roll: -1                    # Disable
      pitch: 4                    # Right thumb stick vertical
      yaw: 3                      # Right thumb stick horizontal
    scale_gimbal:
      roll: 0.0
      pitch: -1.0
      yaw: 2.5
    scale_gimbal_turbo:
      roll: 0.0
      pitch: -1.5
      yaw: 3.5