navigation: add velocity_smoother parameters with default values

This for 2wd/4wd, Y=0. max_velocity: [0.5, 0.0, 2.5] min_velocity: [-0.5, 0.0, -2.5] max_accel: [2.5, 0.0, 3.2] max_decel: [-2.5, 0.0, -3.2] Set Y=X for mecanum max_velocity: [0.5, 0.5, 2.5] min_velocity: [-0.5, -0.5, -2.5] max_accel: [2.5, 2.5, 3.2] max_decel: [-2.5, -2.5, -3.2] Signed-off-by: Thomas Chou <[email protected]>
gary-robotics · May 10, 2024 · e496178 · e496178
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commit e496178
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diff --git a/linorobot2_navigation/config/navigation.yaml b/linorobot2_navigation/config/navigation.yaml
@@ -396,3 +396,17 @@ waypoint_follower:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"
       enabled: true
       waypoint_pause_duration: 200
+
+velocity_smoother:
+  ros__parameters:
+    smoothing_frequency: 20.0
+    scale_velocities: False
+    feedback: "OPEN_LOOP"
+    max_velocity: [0.5, 0.0, 2.5]
+    min_velocity: [-0.5, 0.0, -2.5]
+    max_accel: [2.5, 0.0, 3.2]
+    max_decel: [-2.5, 0.0, -3.2]
+    odom_topic: "odom"
+    odom_duration: 0.1
+    deadband_velocity: [0.0, 0.0, 0.0]
+    velocity_timeout: 1.0
diff --git a/linorobot2_navigation/config/navigation_sim.yaml b/linorobot2_navigation/config/navigation_sim.yaml
@@ -396,3 +396,17 @@ waypoint_follower:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"
       enabled: true
       waypoint_pause_duration: 200
+
+velocity_smoother:
+  ros__parameters:
+    smoothing_frequency: 20.0
+    scale_velocities: False
+    feedback: "OPEN_LOOP"
+    max_velocity: [0.5, 0.0, 2.5]
+    min_velocity: [-0.5, 0.0, -2.5]
+    max_accel: [2.5, 0.0, 3.2]
+    max_decel: [-2.5, 0.0, -3.2]
+    odom_topic: "odom"
+    odom_duration: 0.1
+    deadband_velocity: [0.0, 0.0, 0.0]
+    velocity_timeout: 1.0