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fixed formatting
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@grassjelly
grassjelly authored Feb 21, 2024
1 parent 6e09abc commit 621cf2a
Showing 1 changed file with 44 additions and 44 deletions.
88 changes: 44 additions & 44 deletions linorobot2_navigation/config/navigation_sim.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
amcl:
ros__parameters:
use_sim_time: True
use_sim_time: true
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
Expand Down Expand Up @@ -41,21 +41,21 @@ amcl:

amcl_map_client:
ros__parameters:
use_sim_time: True
use_sim_time: true

amcl_rclcpp_node:
ros__parameters:
use_sim_time: True
use_sim_time: true

bt_navigator:
ros__parameters:
use_sim_time: True
use_sim_time: true
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
enable_groot_monitoring: True
enable_groot_monitoring: true
groot_zmq_publisher_port: 1666
groot_zmq_server_port: 1667
plugin_lib_names:
Expand Down Expand Up @@ -93,11 +93,11 @@ bt_navigator:

bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: True
use_sim_time: true

controller_server:
ros__parameters:
use_sim_time: True
use_sim_time: true
controller_frequency: 20.0
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
Expand All @@ -115,7 +115,7 @@ controller_server:

# Goal checker parameters
general_goal_checker:
stateful: True
stateful: true
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
Expand All @@ -128,7 +128,7 @@ controller_server:
max_angular_accel: 3.2
simulate_ahead_time: 1.0
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
debug_trajectory_details: true
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 0.4
Expand All @@ -154,8 +154,8 @@ controller_server:
transform_tolerance: 0.2
xy_goal_tolerance: 0.25
trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True
stateful: True
short_circuit_trajectory_evaluation: true
stateful: true
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
BaseObstacle.scale: 0.02
PathAlign.scale: 32.0
Expand All @@ -170,12 +170,12 @@ controller_server:

controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
use_sim_time: true

global_costmap:
global_costmap:
ros__parameters:
use_sim_time: True
use_sim_time: true
footprint_padding: 0.03
update_frequency: 1.0
publish_frequency: 1.0
Expand All @@ -186,7 +186,7 @@ global_costmap:
plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
enabled: true
observation_sources: scan base_scan
footprint_clearing_enabled: true
max_obstacle_height: 2.0
Expand All @@ -199,8 +199,8 @@ global_costmap:
raytrace_min_range: 0.0
max_obstacle_height: 2.0
min_obstacle_height: 0.0
clearing: True
marking: True
clearing: true
marking: true
data_type: "LaserScan"
inf_is_valid: false
base_scan:
Expand All @@ -211,16 +211,16 @@ global_costmap:
raytrace_min_range: 0.0
max_obstacle_height: 2.0
min_obstacle_height: 0.0
clearing: True
marking: True
clearing: true
marking: true
data_type: "LaserScan"
inf_is_valid: false
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
enabled: true
footprint_clearing_enabled: true
max_obstacle_height: 2.0
publish_voxel_map: True
publish_voxel_map: true
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
Expand All @@ -237,12 +237,12 @@ global_costmap:
obstacle_min_range: 0.0
raytrace_max_range: 3.0
raytrace_min_range: 0.0
clearing: True
marking: True
clearing: true
marking: true
data_type: "PointCloud2"
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
map_subscribe_transient_local: true
enabled: true
subscribe_to_updates: true
transform_tolerance: 0.1
Expand All @@ -253,12 +253,12 @@ global_costmap:
cost_scaling_factor: 1.0
inflate_unknown: false
inflate_around_unknown: true
always_send_full_costmap: True
always_send_full_costmap: true

local_costmap:
local_costmap:
ros__parameters:
use_sim_time: True
use_sim_time: true
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
Expand All @@ -272,7 +272,7 @@ local_costmap:
plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
enabled: true
observation_sources: scan base_scan
footprint_clearing_enabled: true
max_obstacle_height: 2.0
Expand All @@ -285,8 +285,8 @@ local_costmap:
raytrace_min_range: 0.0
max_obstacle_height: 2.0
min_obstacle_height: 0.0
clearing: False
marking: True
clearing: false
marking: true
data_type: "LaserScan"
inf_is_valid: false
base_scan:
Expand All @@ -297,16 +297,16 @@ local_costmap:
raytrace_min_range: 0.0
max_obstacle_height: 2.0
min_obstacle_height: 0.0
clearing: False
marking: True
clearing: false
marking: true
data_type: "LaserScan"
inf_is_valid: false
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
enabled: true
footprint_clearing_enabled: true
max_obstacle_height: 2.0
publish_voxel_map: True
publish_voxel_map: true
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
Expand All @@ -323,34 +323,34 @@ local_costmap:
obstacle_min_range: 0.0
raytrace_max_range: 3.0
raytrace_min_range: 0.0
clearing: True
marking: True
clearing: true
marking: true
data_type: "PointCloud2"
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
enabled: True
enabled: true
inflation_radius: 0.55
cost_scaling_factor: 1.0
inflate_unknown: false
inflate_around_unknown: true

map_server:
ros__parameters:
use_sim_time: True
use_sim_time: true
yaml_filename: "turtlebot3_world.yaml"

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

planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: True
use_sim_time: true
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
Expand All @@ -360,7 +360,7 @@ planner_server:

planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
use_sim_time: true

recoveries_server:
ros__parameters:
Expand All @@ -377,15 +377,15 @@ recoveries_server:
global_frame: odom
robot_base_frame: base_link
transform_timeout: 0.1
use_sim_time: True
use_sim_time: true
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: True
use_sim_time: true

waypoint_follower:
ros__parameters:
Expand All @@ -394,5 +394,5 @@ waypoint_follower:
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200
enabled: true
waypoint_pause_duration: 200

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