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NOTE: <> means plugin are namespaced by a name/id parameterization. The bracketed names may change due to your application configuration

bt_navigator

Parameter Default Description
default_bt_xml_filename N/A path to the default behavior tree XML description
enable_groot_monitoring True enable Groot live monitoring of the behavior tree
groot_zmq_publisher_port 1666 change port of the zmq publisher needed for groot
groot_zmq_server_port 1667 change port of the zmq server needed for groot
plugin_lib_names ["nav2_compute_path_to_pose_action_bt_node", "nav2_follow_path_action_bt_node", "nav2_back_up_action_bt_node", "nav2_spin_action_bt_node", "nav2_wait_action_bt_node", "nav2_clear_costmap_service_bt_node", "nav2_is_stuck_condition_bt_node", "nav2_goal_reached_condition_bt_node", "nav2_initial_pose_received_condition_bt_node", "nav2_goal_updated_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_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_distance_traveled_condition_bt_node", "nav2_rotate_action_bt_node", "nav2_translate_action_bt_node", "nav2_is_battery_low_condition_bt_node", "nav2_goal_updater_node_bt_node", "nav2_navigate_to_pose_action_bt_node"] list of behavior tree node shared libraries
transform_tolerance 0.1 TF transform tolerance
global_frame "map" Reference frame
robot_base_frame "base_link" Robot base frame
odom_topic "odom" Odometry topic

costmaps

Node: costmap_2d_ros

Namespace: /parent_ns/local_ns

Parameter Default Description
always_send_full_costmap false Whether to send full costmap every update, rather than updates
footprint_padding 0.01 Amount to pad footprint (m)
footprint "[]" Ordered set of footprint points, must be closed set
global_frame "map" Reference frame
height 5 Height of costmap (m)
width 5 Width of costmap (m)
lethal_cost_threshold 100 Minimum cost of an occupancy grid map to be considered a lethal obstacle
map_topic "parent_namespace/map" Topic of map from map_server or SLAM
observation_sources [""] List of sources of sensors, to be used if not specified in plugin specific configurations
origin_x 0.0 X origin of the costmap relative to width (m)
origin_y 0.0 Y origin of the costmap relative to height (m)
publish_frequency 1.0 Frequency to publish costmap to topic
resolution 0.1 Resolution of 1 pixel of the costmap, in meters
robot_base_frame "base_link" Robot base frame
robot_radius 0.1 Robot radius to use, if footprint coordinates not provided
rolling_window false Whether costmap should roll with robot base frame
track_unknown_space false If false, treats unknown space as free space, else as unknown space
transform_tolerance 0.3 TF transform tolerance
trinary_costmap true If occupancy grid map should be interpreted as only 3 values (free, occupied, unknown) or with its stored values
unknown_cost_value 255 Cost of unknown space if tracking it
update_frequency 5.0 Costmap update frequency
use_maximum false whether when combining costmaps to use the maximum cost or override
plugins {"static_layer", "obstacle_layer", "inflation_layer"} List of mapped plugin names for parameter namespaces and names
clearable_layers ["obstacle_layer"] Layers that may be cleared using the clearing service

NOTE: When plugins parameter is overridden, each plugin namespace defined in the list needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.

For example:

local_costmap:
  ros__parameters:
    plugins: ["obstacle_layer", "voxel_layer", "sonar_layer", "inflation_layer"]
    obstacle_layer:
      plugin: "nav2_costmap_2d::ObstacleLayer"
    voxel_layer:
      plugin: "nav2_costmap_2d::VoxelLayer"
    sonar_layer:
      plugin: "nav2_costmap_2d::RangeSensorLayer"
    inflation_layer:
      plugin: "nav2_costmap_2d::InflationLayer"

When plugins parameter is not overridden, the following default plugins are loaded:

Namespace Plugin
"static_layer" "nav2_costmap_2d::StaticLayer"
"obstacle_layer" "nav2_costmap_2d::ObstacleLayer"
"inflation_layer" "nav2_costmap_2d::InflationLayer"

static_layer plugin

  • <static layer>: Name corresponding to the nav2_costmap_2d::StaticLayer plugin. This name gets defined in plugin_names, default value is static_layer
Parameter Default Description
<static layer>.enabled true Whether it is enabled
<static layer>.subscribe_to_updates false Subscribe to static map updates after receiving first
<static layer>.map_subscribe_transient_local true QoS settings for map topic
<static layer>.transform_tolerance 0.0 TF tolerance
<static layer>.map_topic "" Name of the map topic to subscribe to (empty means use the map_topic defined by costmap_2d_ros)

inflation_layer plugin

  • <inflation layer>: Name corresponding to the nav2_costmap_2d::InflationLayer plugin. This name gets defined in plugin_names, default value is inflation_layer
Parameter Default Description
<inflation layer>.enabled true Whether it is enabled
<inflation layer>.inflation_radius 0.55 Radius to inflate costmap around lethal obstacles
<inflation layer>.cost_scaling_factor 10.0 Exponential decay factor across inflation radius
<inflation layer>.inflate_unknown false Whether to inflate unknown cells as if lethal
<inflation layer>.inflate_around_unknown false Whether to inflate unknown cells

obstacle_layer plugin

  • <obstacle layer>: Name corresponding to the nav2_costmap_2d::ObstacleLayer plugin. This name gets defined in plugin_names, default value is obstacle_layer
  • <data source>: Name of a source provided in ``.observation_sources
Parameter Default Description
<obstacle layer>.enabled true Whether it is enabled
<obstacle layer>.footprint_clearing_enabled true Clear any occupied cells under robot footprint
<obstacle layer>.max_obstacle_height 2.0 Maximum height to add return to occupancy grid
<obstacle layer>.combination_method 1 Enum for method to add data to master costmap, default to maximum
<obstacle layer>.observation_sources "" namespace of sources of data
<data source>.topic "" Topic of data
<data source>.sensor_frame "" frame of sensor, to use if not provided by message
<data source>.observation_persistence 0.0 How long to store messages in a buffer to add to costmap before removing them (s)
<data source>.expected_update_rate 0.0 Expected rate to get new data from sensor
<data source>.data_type "LaserScan" Data type of input, LaserScan or PointCloud2
<data source>.min_obstacle_height 0.0 Minimum height to add return to occupancy grid
<data source>.max_obstacle_height 0.0 Maximum height to add return to occupancy grid for this source
<data source>.inf_is_valid false Are infinite returns from laser scanners valid measurements
<data source>.marking true Whether source should mark in costmap
<data source>.clearing false Whether source should raytrace clear in costmap
<data source>.obstacle_range 2.5 Maximum range to mark obstacles in costmap
<data source>.raytrace_range 3.0 Maximum range to raytrace clear obstacles from costmap

range_sensor_layer plugin

  • <range layer>: Name corresponding to the nav2_costmap_2d::RangeSensorLayer plugin. This name gets defined in plugin_names.
Parameter Default Description
<range layer>.enabled true Whether it is enabled
<range layer>.topics [""] Range topics to subscribe to
<range layer>.phi 1.2 Phi value
<range layer>.inflate_cone 1.0 Inflate the triangular area covered by the sensor (percentage)
<range layer>.no_readings_timeout 0.0 No Readings Timeout
<range layer>.clear_threshold 0.2 Probability below which cells are marked as free
<range layer>.mark_threshold 0.8 Probability above which cells are marked as occupied
<range layer>.clear_on_max_reading false Clear on max reading
<range layer>.input_sensor_type ALL Input sensor type either ALL (automatic selection), VARIABLE (min range != max range), or FIXED (min range == max range)

voxel_layer plugin

  • <voxel layer>: Name corresponding to the nav2_costmap_2d::VoxelLayer plugin. This name gets defined in plugin_names
  • <data source>: Name of a source provided in <voxel layer>.observation_sources`

Note: These parameters will only get declared if a <voxel layer> name such as voxel_layer is appended to plugin_names parameter and "nav2_costmap_2d::VoxelLayer" is appended to plugin_types parameter.

Parameter Default Description
<voxel layer>.enabled true Whether it is enabled
<voxel layer>.footprint_clearing_enabled true Clear any occupied cells under robot footprint
<voxel layer>.max_obstacle_height 2.0 Maximum height to add return to occupancy grid
<voxel layer>.z_voxels 10 Number of voxels high to mark, maximum 16
<voxel layer>.origin_z 0.0 Where to start marking voxels (m)
<voxel layer>.z_resolution 0.2 Resolution of voxels in height (m)
<voxel layer>.unknown_threshold 15 Minimum number of empty voxels in a column to mark as unknown in 2D occupancy grid
<voxel layer>.mark_threshold 0 Minimum number of voxels in a column to mark as occupied in 2D occupancy grid
<voxel layer>.combination_method 1 Enum for method to add data to master costmap, default to maximum
<voxel layer>.publish_voxel_map false Whether to publish 3D voxel grid, computationally expensive
<voxel layer>.observation_sources "" namespace of sources of data
<data source>.topic "" Topic of data
<data source>.sensor_frame "" frame of sensor, to use if not provided by message
<data source>.observation_persistence 0.0 How long to store messages in a buffer to add to costmap before removing them (s)
<data source>.expected_update_rate 0.0 Expected rate to get new data from sensor
<data source>.data_type "LaserScan" Data type of input, LaserScan or PointCloud2
<data source>.min_obstacle_height 0.0 Minimum height to add return to occupancy grid
<data source>.max_obstacle_height 0.0 Maximum height to add return to occupancy grid for this source
<data source>.inf_is_valid false Are infinite returns from laser scanners valid measurements
<data source>.marking true Whether source should mark in costmap
<data source>.clearing false Whether source should raytrace clear in costmap
<data source>.obstacle_range 2.5 Maximum range to mark obstacles in costmap
<data source>.raytrace_range 3.0 Maximum range to raytrace clear obstacles from costmap

controller_server

Parameter Default Description
controller_frequency 20.0 Frequency to run controller
progress_checker_plugin "progress_checker" Plugin used by the controller to check whether the robot has at least covered a set distance/displacement in a set amount of time, thus checking the progress of the robot.
<progress_checker_plugin>.plugin "nav2_controller::SimpleProgressChecker" Default plugin
goal_checker_plugin "goal_checker" Check if the goal has been reached
<goal_checker_plugin>.plugin "nav2_controller::SimpleGoalChecker" Default plugin
controller_plugins ["FollowPath"] List of mapped names for controller plugins for processing requests and parameters
<controller_plugins>.plugin "dwb_core::DWBLocalPlanner" Default plugin
min_x_velocity_threshold 0.0001 Minimum X velocity to use (m/s)
min_y_velocity_threshold 0.0001 Minimum Y velocity to use (m/s)
min_theta_velocity_threshold 0.0001 Minimum angular velocity to use (rad/s)

NOTE: When controller_plugins parameter is overridden, each plugin namespace defined in the list needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.

For example:

controller_server:
  ros__parameters:
    controller_plugins: ["FollowPath"]
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"

When controller_plugins`progress_checker_plugin\goal_checker_plugin` parameters are not overridden, the following default plugins are loaded:

Namespace Plugin
"FollowPath" "dwb_core::DWBLocalPlanner"
"progress_checker" "nav2_controller::SimpleProgressChecker"
"goal_checker" "nav2_controller::SimpleGoalChecker"

simple_progress_checker plugin

Parameter Default Description
<nav2_controller plugin>.required_movement_radius 0.5 Minimum distance to count as progress (m)
<nav2_controller plugin>.movement_time_allowance 10.0 Maximum time allowence for progress to happen (s)

simple_goal_checker plugin

Parameter Default Description
<nav2_controller plugin>.xy_goal_tolerance 0.25 Tolerance to meet goal completion criteria (m)
<nav2_controller plugin>.yaw_goal_tolerance 0.25 Tolerance to meet goal completion criteria (rad)
<nav2_controller plugin>.stateful true Whether to check for XY position tolerance after rotating to goal orientation in case of minor localization changes

stopped_goal_checker plugin

Parameter Default Description
<nav2_controller plugin>.rot_stopped_velocity 0.25 Velocity below is considered to be stopped at tolerance met (rad/s)
<nav2_controller plugin>.trans_stopped_velocity 0.25 Velocity below is considered to be stopped at tolerance met (m/s)

dwb_controller

  • <dwb plugin>: DWB plugin name defined in controller_plugin_ids in the controller_server parameters

dwb_local_planner

Parameter Default Description
<dwb plugin>.critics N/A List of critic plugins to use
<dwb plugin>.default_critic_namespaces ["dwb_critics"] Namespaces to load critics in
<dwb plugin>.prune_plan true Whether to prune the path of old, passed points
<dwb plugin>.shorten_transformed_plan true Determines whether we will pass the full plan on to the critics
<dwb plugin>.prune_distance 1.0 Distance (m) to prune backward until
<dwb plugin>.debug_trajectory_details false Publish debug information
<dwb plugin>.trajectory_generator_name "dwb_plugins::StandardTrajectoryGenerator" Trajectory generator plugin name
<dwb plugin>.transform_tolerance 0.1 TF transform tolerance
<dwb plugin>.short_circuit_trajectory_evaluation true Stop evaluating scores after best score is found
<dwb plugin>.path_distance_bias N/A Old version of PathAlign.scale, use that instead
<dwb plugin>.goal_distance_bias N/A Old version of GoalAlign.scale, use that instead
<dwb plugin>.occdist_scale N/A Old version of ObstacleFootprint.scale, use that instead
<dwb plugin>.max_scaling_factor N/A Old version of ObstacleFootprint.max_scaling_factor, use that instead
<dwb plugin>.scaling_speed N/A Old version of ObstacleFootprint.scaling_speed, use that instead
<dwb plugin>.PathAlign.scale 32.0 Scale for path align critic, overriding local default
<dwb plugin>.GoalAlign.scale 24.0 Scale for goal align critic, overriding local default
<dwb plugin>.PathDist.scale 32.0 Scale for path distance critic, overriding local default
<dwb plugin>.GoalDist.scale 24.0 Scale for goal distance critic, overriding local default

publisher

Parameter Default Description
<dwb plugin>.publish_evaluation true Whether to publish the local plan evaluation
<dwb plugin>.publish_global_plan true Whether to publish the global plan
<dwb plugin>.publish_transformed_plan true Whether to publish the global plan in the odometry frame
<dwb plugin>.publish_local_plan true Whether to publish the local planner's plan
<dwb plugin>.publish_trajectories true Whether to publish debug trajectories
<dwb plugin>.publish_cost_grid_pc false Whether to publish the cost grid
<dwb plugin>.marker_lifetime 0.1 How long for the marker to remain

oscillation TrajectoryCritic

  • <name>: oscillation critic name defined in <dwb plugin>.critics
Parameter Default Description
<dwb plugin>.<name>.oscillation_reset_dist 0.05 Minimum distance to move to reset oscillation watchdog (m)
<dwb plugin>.<name>.oscillation_reset_angle 0.2 Minimum angular distance to move to reset watchdog (rad)
<dwb plugin>.<name>.oscillation_reset_time -1 Duration when a reset may be called. If -1, cannot be reset.
<dwb plugin>.<name>.x_only_threshold 0.05 Threshold to check in the X velocity direction
<dwb plugin>.<name>.scale 1.0 Weighed scale for critic

kinematic_parameters

Parameter Default Description
<dwb plugin>.max_vel_theta 0.0 Maximum angular velocity (rad/s)
<dwb plugin>.min_speed_xy 0.0 Minimum translational speed (m/s)
<dwb plugin>.max_speed_xy 0.0 Maximum translational speed (m/s)
<dwb plugin>.min_speed_theta 0.0 Minimum angular speed (rad/s)
<dwb plugin>.min_vel_x 0.0 Minimum velocity X (m/s)
<dwb plugin>.min_vel_y 0.0 Minimum velocity Y (m/s)
<dwb plugin>.max_vel_x 0.0 Maximum velocity X (m/s)
<dwb plugin>.max_vel_y 0.0 Maximum velocity Y (m/s)
<dwb plugin>.acc_lim_x 0.0 Maximum acceleration X (m/s^2)
<dwb plugin>.acc_lim_y 0.0 Maximum acceleration Y (m/s^2)
<dwb plugin>.acc_lim_theta 0.0 Maximum acceleration rotation (rad/s^2)
<dwb plugin>.decel_lim_x 0.0 Maximum deceleration X (m/s^2)
<dwb plugin>.decel_lim_y 0.0 Maximum deceleration Y (m/s^2)
<dwb plugin>.decel_lim_theta 0.0 Maximum deceleration rotation (rad/s^2)

xy_theta_iterator

Parameter Default Description
<dwb plugin>.vx_samples 20 Number of velocity samples in the X velocity direction
<dwb plugin>.vy_samples 5 Number of velocity samples in the Y velocity direction
<dwb plugin>.vtheta_samples 20 Number of velocity samples in the angular directions

base_obstacle TrajectoryCritic

  • <name>: base_obstacle critic name defined in <dwb plugin>.critics
Parameter Default Description
<dwb plugin>.<name>.sum_scores false Whether to allow for scores to be sumed up
<dwb plugin>.<name>.scale 1.0 Weight scale

obstacle_footprint TrajectoryCritic

  • <name>: obstacle_footprint critic name defined in <dwb plugin>.critics
Parameter Default Description
<dwb plugin>.<name>.sum_scores false Whether to allow for scores to be sumed up
<dwb plugin>.<name>.scale 1.0 Weight scale

prefer_forward TrajectoryCritic

  • <name>: prefer_forward critic name defined in <dwb plugin>.critics
Parameter Default Description
<dwb plugin>.<name>.penalty 1.0 Penalty to apply to backward motion
<dwb plugin>.<name>.strafe_x 0.1 Minimum X velocity before penalty
<dwb plugin>.<name>.strafe_theta 0.2 Minimum angular velocity before penalty
<dwb plugin>.<name>.theta_scale 10.0 Weight for angular velocity component
<dwb plugin>.<name>.scale 1.0 Weight scale

twirling TrajectoryCritic

  • <name>: twirling critic name defined in <dwb plugin>.critics
Parameter Default Description
<dwb plugin>.<name>.scale 0.0 Weight scale

goal_dist TrajectoryCritic

| <dwb plugin>.<name>.aggregation_type | "last" | last, sum, or product combination methods | | <dwb plugin>.<name>.scale | 1.0 | Weight scale |

goal_align TrajectoryCritic

  • <name>: goal_align critic name defined in <dwb plugin>.critics
Parameter Default Description
<dwb plugin>.<name>.forward_point_distance 0.325 Point in front of robot to look ahead to compute angular change from
<dwb plugin>.<name>.scale 1.0 Weight scale
<dwb plugin>.<name>.aggregation_type "last" last, sum, or product combination methods

map_grid TrajectoryCritic

  • <name>: map_grid critic name defined in <dwb plugin>.critics
Parameter Default Description
<dwb plugin>.<name>.aggregation_type "last" last, sum, or product combination methods
<dwb plugin>.<name>.scale 1.0 Weight scale

path_dist TrajectoryCritic

  • <name>: path_dist critic name defined in <dwb plugin>.critics
Parameter Default Description
<dwb plugin>.<name>.aggregation_type "last" last, sum, or product combination methods
<dwb plugin>.<name>.scale 1.0 Weight scale

path_align TrajectoryCritic

  • <name>: path_align critic name defined in <dwb plugin>.critics
Parameter Default Description
<dwb plugin>.<name>.forward_point_distance 0.325 Point in front of robot to look ahead to compute angular change from
<dwb plugin>.<name>.scale 1.0 Weight scale
<dwb plugin>.<name>.aggregation_type "last" last, sum, or product combination methods

rotate_to_goal TrajectoryCritic

  • <name>: rotate_to_goal critic name defined in <dwb plugin>.critics
Parameter Default Description
<dwb plugin>.xy_goal_tolerance 0.25 Tolerance to meet goal completion criteria (m)
<dwb plugin>.trans_stopped_velocity 0.25 Velocity below is considered to be stopped at tolerance met (rad/s)
<dwb plugin>.slowing_factor 5.0 Factor to slow robot motion by while rotating to goal
<dwb plugin>.lookahead_time -1 If > 0, amount of time to look forward for a collision for.
<dwb plugin>.<name>.scale 1.0 Weight scale

standard_traj_generator plugin

Parameter Default Description
<dwb plugin>.sim_time 1.7 Time to simulate ahead by (s)
<dwb plugin>.discretize_by_time false If true, forward simulate by time. If False, forward simulate by linear and angular granularity
<dwb plugin>.time_granularity 0.5 Time ahead to project
<dwb plugin>.linear_granularity 0.5 Linear distance forward to project
<dwb plugin>.angular_granularity 0.025 Angular distance to project
<dwb plugin>.include_last_point true Whether to include the last pose in the trajectory

limited_accel_generator plugin

Parameter Default Description
<dwb plugin>.sim_time N/A Time to simulate ahead by (s)

lifecycle_manager

Parameter Default Description
node_names N/A Ordered list of node names to bringup through lifecycle transition
autostart false Whether to transition nodes to active state on startup

map_server

map_server

Parameter Default Description
save_map_timeout 2000 Timeout to attempt to save map with (ms)
free_thresh_default 0.25 Free space maximum threshold for occupancy grid
occupied_thresh_default 0.65 Occupied space minimum threshhold for occupancy grid

map_server

Parameter Default Description
yaml_filename N/A Path to map yaml file
topic_name "map" topic to publish loaded map to
frame_id "map" Frame to publish loaded map in

planner_server

Parameter Default Description
planner_plugins ["GridBased"] List of Mapped plugin names for parameters and processing requests
expected_planner_frequency 20.0 Expected planner frequency. If the current frequency is less than the expected frequency, display the warning message

NOTE: When planner_plugins parameter is overridden, each plugin namespace defined in the list needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.

For example:

planner_server:
  ros__parameters:
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"

When planner_plugins parameter is not overridden, the following default plugins are loaded:

Namespace Plugin
"GridBased" "nav2_navfn_planner/NavfnPlanner"

navfn_planner

  • <name>: Corresponding planner plugin ID for this type
Parameter Default Description
<name>.tolerance 0.5 Tolerance in meters between requested goal pose and end of path
<name>.use_astar false Whether to use A*, if false, uses Dijstra's expansion
<name>.allow_unknown true Whether to allow planning in unknown space

smac_planner

  • <name>: Corresponding planner plugin ID for this type
Parameter Default Description
<name>.tolerance 0.5 Tolerance in meters between requested goal pose and end of path
<name>.downsample_costmap false Whether to downsample costmap
<name>.downsampling_factor 1 Factor to downsample costmap by
<name>.allow_unknown true whether to allow traversing in unknown space
<name>.max_iterations -1 Number of iterations before failing, disabled by -1
<name>.max_on_approach_iterations 1000 Iterations after within threshold before returning approximate path with best heuristic
<name>.max_planning_time_ms 5000 Maximum planning time in ms
<name>.smooth_path false Whether to smooth path with CG smoother
<name>.motion_model_for_search DUBIN Motion model to search with. Options for SE2: DUBIN, REEDS_SHEPP. 2D: MOORE, VON_NEUMANN
<name>.angle_quantization_bins 1 Number of angle quantization bins for SE2 node
<name>.minimum_turning_radius 0.20 Minimum turning radius in m of vehicle or desired path
<name>.reverse_penalty 2.0 Penalty to apply to SE2 node if in reverse direction
<name>.change_penalty 0.5 Penalty to apply to SE2 node if changing direction
<name>.non_straight_penalty 1.1 Penalty to apply to SE2 node if non-straight direction
<name>.cost_penalty 1.2 Penalty to apply to SE2 node for cost at pose
<name>.analytic_expansion_ratio 2.0 For SE2 nodes the planner will attempt an analytic path expansion every N iterations, where N = closest_distance_to_goal / analytic_expansion_ratio. Higher ratios result in more frequent expansions
<name>.smoother.smoother.w_curve 1.5 Smoother weight on curvature of path
<name>.smoother.smoother.w_dist 0.0 Smoother weight on distance from original path
<name>.smoother.smoother.w_smooth 15000 Smoother weight on distance between nodes
<name>.smoother.smoother.w_cost 1.5 Smoother weight on costmap cost
<name>.smoother.smoother.cost_scaling_factor 10.0 Inflation layer's scale factor
<name>.smoother.optimizer.max_time 0.10 Maximum time to spend smoothing, in seconds
<name>.smoother.optimizer.max_iterations 500 Maximum number of iterations to spend smoothing
<name>.smoother.optimizer.debug_optimizer false Whether to print debug info from Ceres
<name>.smoother.optimizer.gradient_tol 1e-10 Minimum change in gradient to terminate smoothing
<name>.smoother.optimizer.fn_tol 1e-7 Minimum change in function to terminate smoothing
<name>.smoother.optimizer.param_tol 1e-15 Minimum change in parameter block to terminate smoothing

| <name>.smoother.optimizer.advanced.min_line_search_step_size | 1e-20 | Terminate smoothing iteration if change in parameter block less than this | | <name>.smoother.optimizer.advanced.max_num_line_search_step_size_iterations | 50 | Maximum iterations for line search | | <name>.smoother.optimizer.advanced.line_search_sufficient_function_decrease | 1e-20 | Function decrease amount to terminate current line search iteration | | <name>.smoother.optimizer.advanced.max_num_line_search_direction_restarts | 10 | Maximum umber of restarts of line search when over-estimating | | <name>.smoother.optimizer.advanced.max_line_search_step_expansion | 50 | Step size multiplier at each iteration of line search |

waypoint_follower

Parameter Default Description
stop_on_failure true Whether to fail action task if a single waypoint fails. If false, will continue to next waypoint.
loop_rate 20 Rate to check for results from current navigation task

recoveries

recovery_server

Parameter Default Description
costmap_topic "local_costmap/costmap_raw" Raw costmap topic for collision checking
footprint_topic "local_costmap/published_footprint" Topic for footprint in the costmap frame
cycle_frequency 10.0 Frequency to run recovery plugins
transform_tolerance 0.1 TF transform tolerance
global_frame "odom" Reference frame
robot_base_frame "base_link" Robot base frame
recovery_plugins {"spin", "backup", "wait"} List of plugin names to use, also matches action server names

NOTE: When recovery_plugins parameter is overridden, each plugin namespace defined in the list needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.

For example:

recoveries_server:
  ros__parameters:
    recovery_plugins: ["spin", "backup", "wait"]
    spin:
      plugin: "nav2_recoveries/Spin"
    backup:
      plugin: "nav2_recoveries/BackUp"
    wait:
      plugin: "nav2_recoveries/Wait"

When recovery_plugins parameter is not overridden, the following default plugins are loaded:

Namespace Plugin
"spin" "nav2_recoveries/Spin"
"backup" "nav2_recoveries/BackUp"
"wait" "nav2_recoveries/Wait"

spin plugin

Parameter Default Description
simulate_ahead_time 2.0 Time to look ahead for collisions (s)
max_rotational_vel 1.0 Maximum rotational velocity (rad/s)
min_rotational_vel 0.4 Minimum rotational velocity (rad/s)
rotational_acc_lim 3.2 maximum rotational acceleration (rad/s^2)

backup plugin

Parameter Default Description
simulate_ahead_time 2.0 Time to look ahead for collisions (s)

AMCL

Parameter Default Description
alpha1 0.2 Expected process noise in odometry's rotation estimate from rotation
alpha2 0.2 Expected process noise in odometry's rotation estimate from translation
alpha3 0.2 Expected process noise in odometry's translation estimate from translation
alpha4 0.2 Expected process noise in odometry's translation estimate from rotation
alpha5 0.2 For Omni models only: translation noise
base_frame_id "base_footprint" Base frame
beam_skip_distance 0.5 Ignore beams that most particles disagree with in Likelihood field model. Maximum distance to consider skipping for (m)
beam_skip_error_threshold 0.9 Percentage of beams after not matching map to force full update due to bad convergance
beam_skip_threshold 0.3 Percentage of beams required to skip
do_beamskip false Whether to do beam skipping in Likelihood field model.
global_frame_id "map" The name of the coordinate frame published by the localization system
lambda_short 0.1 Exponential decay parameter for z_short part of model
laser_likelihood_max_dist 2.0 Maximum distance to do obstacle inflation on map, for use in likelihood_field model
laser_max_range 100.0 Maximum scan range to be considered, -1.0 will cause the laser's reported maximum range to be used
laser_min_range -1 Minimum scan range to be considered, -1.0 will cause the laser's reported minimum range to be used
laser_model_type "likelihood_field" Which model to use, either beam, likelihood_field, or likelihood_field_prob. Same as likelihood_field but incorporates the beamskip feature, if enabled
set_initial_pose false Causes AMCL to set initial pose from the initial_pose* parameters instead of waiting for the initial_pose message
initial_pose.x 0.0 X coordinate of the initial robot pose in the map frame
initial_pose.y 0.0 Y coordinate of the initial robot pose in the map frame
initial_pose.z 0.0 Z coordinate of the initial robot pose in the map frame
initial_pose.yaw 0.0 Yaw of the initial robot pose in the map frame
max_beams 60 How many evenly-spaced beams in each scan to be used when updating the filter
max_particles 2000 Maximum allowed number of particles
min_particles 500 Minimum allowed number of particles
odom_frame_id "odom" Which frame to use for odometry
pf_err 0.05 Particle Filter population error
pf_z 0.99 Particle filter population density
recovery_alpha_fast 0.0 Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. A good value might be 0.001
resample_interval 1 Number of filter updates required before resampling
robot_model_type "differential"
save_pose_rate 0.5 Maximum rate (Hz) at which to store the last estimated pose and covariance to the parameter server, in the variables ~initial_pose_* and ~initial_cov_*. This saved pose will be used on subsequent runs to initialize the filter (-1.0 to disable)
sigma_hit 0.2 Standard deviation for Gaussian model used in z_hit part of the model.
tf_broadcast true Set this to false to prevent amcl from publishing the transform between the global frame and the odometry frame
transform_tolerance 1.0 Time with which to post-date the transform that is published, to indicate that this transform is valid into the future
update_min_a 0.2 Rotational movement required before performing a filter update
update_min_d 0.25 Translational movement required before performing a filter update
z_hit 0.5 Mixture weight for z_hit part of model, sum of all used z weight must be 1. Beam uses all 4, likelihood model uses z_hit and z_rand.
z_max 0.05 Mixture weight for z_max part of model, sum of all used z weight must be 1. Beam uses all 4, likelihood model uses z_hit and z_rand.
z_rand 0.5 Mixture weight for z_rand part of model, sum of all used z weight must be 1. Beam uses all 4, likelihood model uses z_hit and z_rand.
z_short 0.05 Mixture weight for z_short part of model, sum of all used z weight must be 1. Beam uses all 4, likelihood model uses z_hit and z_rand.
always_reset_initial_pose false Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. Otherwise, by default AMCL will use the last known pose to initialize
scan_topic scan Topic to subscribe to in order to receive the laser scan for localization
map_topic map Topic to subscribe to in order to receive the map for localization

Behavior Tree Nodes

Actions

BT Node BackUp

Input Port Default Description
backup_dist -0.15 Total distance to backup
backup_speed 0.025 Backup speed
server_name N/A Action server name
server_timeout 10 Action server timeout (ms)

BT Node ClearEntireCostmap

Input Port Default Description
service_name N/A Server name
server_timeout 10 Action server timeout (ms)

BT Node ComputePathToPose

Input Port Default Description
goal N/A Goal pose
planner_id N/A Mapped name to the planner plugin type to use, e.g. GridBased
server_name N/A Action server name
server_timeout 10 Action server timeout (ms)
Output Port Default Description
path N/A Path created by action server

BT Node FollowPath

Input Port Default Description
path N/A Path to follow
controller_id N/A Mapped name of the controller plugin type to use, e.g. FollowPath
server_name N/A Action server name
server_timeout 10 Action server timeout (ms)

BT Node NavigateToPose

Input Port Default Description
position N/A Position
orientation N/A Orientation
server_name N/A Action server name
server_timeout 10 Action server timeout (ms)

BT Node ReinitializeGlobalLocalization

Input Port Default Description
service_name N/A Server name
server_timeout 10 Action server timeout (ms)

BT Node Spin

Input Port Default Description
spin_dist 1.57 Spin distance (radians)
server_name N/A Action server name
server_timeout 10 Action server timeout (ms)

BT Node Wait

Input Port Default Description
wait_duration 1 Wait time (s)
server_name N/A Action server name
server_timeout 10 Action server timeout (ms)

BT Node TruncatePath

Input Port Default Description
input_path N/A Path to be truncated
output_path N/A Path truncated
distance 1.0 Distance (m) to cut from last pose

Conditions

BT Node DistanceTraveled

Input Port Default Description
distance 1.0 Distance in meters after which the node should return success
global_frame "map" Reference frame
robot_base_frame "base_link" Robot base frame

BT Node GoalReached

Input Port Default Description
goal N/A Destination to check
global_frame "map" Reference frame
robot_base_frame "base_link" Robot base frame

BT Node IsBatteryLow

Input Port Default Description
min_battery N/A Minimum battery percentage/voltage
battery_topic "/battery_status" Battery topic
is_voltage false If true voltage will be used to check for low battery

BT Node TimeExpired

Input Port Default Description
seconds 1.0 Number of seconds after which node returns success

BT Node TransformAvailable

Input Port Default Description
child "" Child frame for transform
parent "" parent frame for transform

Controls

BT Node RecoveryNode

Input Port Default Description
number_of_retries 1 Number of retries

Decorators

BT Node DistanceController

Input Port Default Description
distance 1.0 Distance (m)
global_frame "map" Reference frame
robot_base_frame "base_link" Robot base frame

BT Node RateController

Input Port Default Description
hz 10.0 Rate to throttle

BT Node SpeedController

Input Port Default Description
min_rate 0.1 Minimum rate (hz)
max_rate 1.0 Maximum rate (hz)
min_speed 0.0 Minimum speed (m/s)
max_speed 0.5 Maximum speed (m/s)
filter_duration 0.3 Duration (secs) for velocity smoothing filter

BT Node GoalUpdater

Input Port Default Description
input_goal N/A The reference goal
output_goal N/A The reference goal, or a newer goal received by subscription