nav2_params.yaml

livox_ros_driver2:
  ros__parameters:
    xfer_format: 4                                      # 0-PointCloud2Msg(PointXYZRTL), 1-LivoxCustomMsg, 2-PclPxyziMsg, 3-LivoxImuMsg, 4-AllMsg
    multi_topic: 0                                      # 0-All LiDARs share the same topic, 1-One LiDAR one topic
    data_src: 0                                         # 0-lidar, others-Invalid data src
    publish_freq: 10.0                                  # frequency of publish, 5.0, 10.0, 20.0, 50.0, etc.
    output_data_type: 0
    frame_id: front_mid360
    user_config_path: $(find-pkg-share pb2025_nav_bringup)/config/reality/mid360_user_config.json
    cmdline_input_bd_code: livox0000000001
    lvx_file_path: ""

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: "livox/lidar"
      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: 0.1                      # 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: 1                                     # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR
      scan_line: 4
      timestamp_unit: 3                                 # 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: 4.0                                     # 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: 1.0                                     # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration
      lidar_meas_cov: 0.01                              # 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
      imu_meas_omg_cov: 0.1
      gyr_cov_input: 0.1                                # 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, -8.487]                   # gravity to be aligned # rpy = [0, pi/6, 0]
      gravity_init: [0.0, -4.9, -8.487]              # preknown gravity in the first IMU body frame, use when imu_en is False or start from a non-stationary state
      extrinsic_T: [ -0.011, -0.02329, 0.04412 ]
      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: false
    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: false
    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               # 点云下采样
    decay_time: 0.5                     # 点云时间差阈值 大于则不会被处理
    no_decay_dis: 0.0                   # 点云距离阈值 小于该阈值不考虑时间差
    clearing_dis: 0.0                   # 该距离外的点会被清除
    use_sorting: True                   # 这个参数开起来就能上坡了；如果 use_sorting,那么就以周围点中的分位点作为地面点，否则以最低点作为地面点；周围其余点相对于地面点的高度作为通过代价，所以对于坡面，有的点的代价是正，有的是负，就相互抵消了；不要与 consider_drop 同时开启，计算上会有冲突
    quantile_z: 0.2                     # useful if use_sorting is enabled.
    consider_drop: False                # 考虑凹下去的地面,开启则将相对于地面点的高度取绝对值
    limit_ground_lift: False            # useful if use_sorting is enabled
    max_ground_lift: 0.3                # useful if use_sorting is enabled
    clear_dy_obs: True                  # 清除动态物体的话，有动态物体走过的地方就走不了了
    min_dy_obs_dis: 0.3                 # 以下参数都是在 clear_dy_obs 的情况下才有用的
    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             # treat no data as obstacle
    no_data_block_skip_num: 0
    min_block_point_num: 10
    vehicle_height: 0.5                 # 小于车辆高度的点才会进行处理
    voxel_point_update_thre: 100
    voxel_time_update_thre: 1.0
    min_rel_z: -1.5                     # min_rel_z 以及 max_rel_z 限制了有效点云点的Z值范围，用于对天花板和地板进行处理
    max_rel_z: 0.5
    dis_ratio_z: 0.2                    # Z 值的最大最小范围由这两个值决定，但是并不等于这两个值，是有一个比例关系的，距离机器人越远，限定范围就越大，这其中考虑了坡度

fake_vel_transform:
  ros__parameters:
    use_sim_time: false
    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"
    cmd_spin_topic: "cmd_spin"
    init_spin_speed: 3.14

small_gicp_relocalization:
  ros__parameters:
    use_sim_time: false
    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: false
    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: false
    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
      enable_rotation: false
      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", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "pb_nav2_costmap_2d::IntensityObstacleLayer"
        enabled: True
        footprint_clearing_enabled: True
        min_obstacle_intensity: 0.1
        max_obstacle_intensity: 2.0
        observation_sources: terrain_map
        terrain_map:
          # '<robot_namespace>' keyword shall be replaced with 'namespace' where user defined.
          # It doesn't need to start with '/'
          topic: <robot_namespace>/terrain_map
          clearing: True
          marking: True
          data_type: "PointCloud2"
          min_obstacle_height: 0.0
          max_obstacle_height: 2.0
          obstacle_max_range: 5.0
          obstacle_min_range: 0.2
          raytrace_max_range: 8.0
          raytrace_min_range: 0.2
      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: False

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: "pb_nav2_costmap_2d::IntensityObstacleLayer"
        enabled: True
        footprint_clearing_enabled: True
        min_obstacle_intensity: 0.1
        max_obstacle_intensity: 2.0
        observation_sources: terrain_map
        terrain_map:
          # '<robot_namespace>' keyword shall be replaced with 'namespace' where user defined.
          # It doesn't need to start with '/'
          topic: <robot_namespace>/terrain_map
          clearing: True
          marking: True
          data_type: "PointCloud2"
          min_obstacle_height: 0.0
          max_obstacle_height: 2.0
          obstacle_max_range: 10.0
          obstacle_min_range: 0.2
          raytrace_max_range: 8.0
          raytrace_min_range: 0.2
      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: False

# 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: 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:
    use_sim_time: false
    expected_planner_frequency: 20.0
    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: false
    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: false
    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: "pb_nav2_behaviors/BackUpFreeSpace"
    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: false
    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: false
    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: false
    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