navigation

ᯤ⁹⁹ᴳ⁺

在导航过程中总是频繁改变线路，并且总在行走过程中出现掉头，转到150度后左右摆头

[component_container_isolated-1] [INFO] [1732006754.263911500] [bt_navigator]: Begin navigating from current location (0.00, 0.00) to (2.00, 0.00)
[component_container_isolated-1] [INFO] [1732006754.275660558] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [WARN] [1732006754.276030386] [controller_server]: No goal checker was specified in parameter 'current_goal_checker'. Server will use only plugin loaded general_goal_checker . This warning will appear once.
[component_container_isolated-1] [WARN] [1732006754.850013391] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1732006755.326992516] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1732006755.841510701] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1732006756.377035908] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006757.377040442] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006758.427313372] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006759.427035494] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006760.477049427] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006761.477067378] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006762.527046312] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006763.577045079] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1732006764.277589667] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1732006764.279071315] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1732006764.291378032] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [WARN] [1732006764.356116409] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [INFO] [1732006764.592088337] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006765.591994581] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006766.642014056] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006767.692006407] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006768.692015608] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006769.742319163] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006770.742018909] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006771.792107217] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006772.842003902] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006773.841999687] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1732006774.392724032] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1732006774.392933445] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [WARN] [1732006774.421698701] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732006774.431964944] [bt_navigator_navigate_to_pose_rclcpp_node]: Node timed out while executing service call to global_costmap/clear_entirely_global_costmap.
[component_container_isolated-1] [INFO] [1732006774.432893016] [behavior_server]: Running spin
[component_container_isolated-1] [WARN] [1732006774.433124304] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1732006774.437556123] [behavior_server]: Turning 1.57 for spin behavior.

[component_container_isolated-1] [INFO] [1732006783.538085015] [behavior_server]: spin completed successfully
[component_container_isolated-1] [INFO] [1732006783.580659052] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [INFO] [1732006784.633075413] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006785.682274732] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006786.682305516] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006787.731927163] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006788.731920614] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006789.782143087] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006790.831925732] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006791.831933183] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006792.882041907] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1732006793.582154250] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1732006793.582361039] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1732006793.600466307] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-1] [INFO] [1732006793.601456211] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [WARN] [1732006793.758523402] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [INFO] [1732006793.890609956] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006794.958623284] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006795.958619943] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006797.008877832] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006798.008727201] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006799.058682219] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006800.108712194] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006801.109257180] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006802.158617289] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006803.158595865] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1732006803.758664618] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1732006803.758803449] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1732006803.770734505] [behavior_server]: Running wait
[component_container_isolated-1] [INFO] [1732006808.770987589] [behavior_server]: wait completed successfully
[component_container_isolated-1] [INFO] [1732006808.820830741] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [INFO] [1732006809.871387168] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006810.921427351] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006811.921385511] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006812.971387861] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006813.971465311] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006815.021387955] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006816.071399805] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006817.071362631] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006818.121477772] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1732006818.823248803] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1732006818.823473383] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1732006818.840331500] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[component_container_isolated-1] [INFO] [1732006818.840919201] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [WARN] [1732006818.956024264] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [INFO] [1732006819.148786039] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006820.156127354] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006821.206119121] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006822.206117239] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006823.256122423] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006824.256124624] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006825.306125433] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006826.356124492] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006827.356115026] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006828.406133918] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1732006828.956353394] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1732006828.956596641] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1732006828.970871791] [behavior_server]: Running backup
[component_container_isolated-1] [WARN] [1732006838.971263337] [behavior_server]: Exceeded time allowance before reaching the DriveOnHeading goal - Exiting DriveOnHeading
[component_container_isolated-1] [WARN] [1732006838.971335670] [behavior_server]: backup failed
[component_container_isolated-1] [WARN] [1732006838.971359294] [behavior_server]: [backup] [ActionServer] Aborting handle.
[component_container_isolated-1] [WARN] [1732006839.002809307] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732006839.011087868] [bt_navigator_navigate_to_pose_rclcpp_node]: Node timed out while executing service call to global_costmap/clear_entirely_global_costmap.
[component_container_isolated-1] [WARN] [1732006839.014434991] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1732006839.014628072] [behavior_server]: Running spin
[component_container_isolated-1] [INFO] [1732006839.015027359] [behavior_server]: Turning 1.57 for spin behavior.
[component_container_isolated-1] [WARN] [1732006839.560671519] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732006839.590014559] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732006839.690031316] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732006840.149728830] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732006840.331374747] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732006843.659815383] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1732006847.415448866] [behavior_server]: spin completed successfully
[component_container_isolated-1] [INFO] [1732006847.460475496] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [INFO] [1732006848.510794801] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006849.560794152] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006850.560793436] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006851.560836761] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006852.610795279] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1732006853.529834769] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1732006853.610796313] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006854.660792747] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1732006855.295701803] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1732006855.660791448] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1732006855.700843475] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1732006856.710903672] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1732006857.460895625] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1732006857.462019694] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1732006857.482102728] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [WARN] [1732006857.550348060] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [INFO] [1732006857.732944798] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006858.783039814] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006859.782944892] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006860.833005491] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006861.832950526] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006862.832942227] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006863.882942745] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006864.882942904] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006865.941362563] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1732006865.995249913] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [INFO] [1732006866.982953563] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1732006867.583379312] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1732006867.583508227] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1732006867.601409622] [behavior_server]: Running wait
[component_container_isolated-1] [INFO] [1732006872.601693664] [behavior_server]: wait completed successfully
[component_container_isolated-1] [INFO] [1732006872.651542358] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [INFO] [1732006873.702117451] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006874.702114860] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006875.752175460] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006876.802082937] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006877.802069096] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1732006878.315566169] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732006878.323257904] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [WARN] [1732006878.415097891] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732006878.537929105] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [WARN] [1732006878.578234005] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [WARN] [1732006878.781040359] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1732006878.852100530] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1732006878.958007420] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732006878.992629558] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732006878.997865491] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [WARN] [1732006879.042754165] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [WARN] [1732006879.199907105] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [WARN] [1732006879.214315545] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [WARN] [1732006879.406779240] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [INFO] [1732006879.909552451] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [WARN] [1732006880.576583219] [BehaviorTreeEngine]: Behavior Tree tick rate 100.00 was exceeded!
[component_container_isolated-1] [INFO] [1732006880.902074956] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006881.952082474] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [ERROR] [1732006882.652133568] [controller_server]: Failed to make progress
[component_container_isolated-1] [WARN] [1732006882.653493592] [controller_server]: [follow_path] [ActionServer] Aborting handle.
[component_container_isolated-1] [INFO] [1732006882.668273610] [controller_server]: Received a goal, begin computing control effort.
[component_container_isolated-1] [WARN] [1732006882.760195263] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [WARN] [1732006882.772280608] [controller_server]: Control loop missed its desired rate of 20.0000Hz
[component_container_isolated-1] [INFO] [1732006882.969265954] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006884.019259180] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006885.019267797] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006886.069265689] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006887.069276348] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006888.119343948] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006889.119289566] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006890.169310208] [controller_server]: Passing new path to controller.
[component_container_isolated-1] [INFO] [1732006891.219296142] [controller_server]: Passing new path to controller.

尝试修改控制执行器频率以及行为树频率后仍然出现这种问题，
nav的配置文件：

amcl:
  ros__parameters:
    use_sim_time: True
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "nav2_amcl::DifferentialMotionModel"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan

amcl_map_client:
  ros__parameters:
    use_sim_time: True

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: True

bt_navigator:
  ros__parameters:
    use_sim_time: True
    global_frame: map
    robot_base_frame: base_footprint
    odom_topic: /odom
    bt_loop_duration: 10 
    default_server_timeout: 20
    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
    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_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_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_drive_on_heading_cancel_bt_node

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: True

controller_server:
  ros__parameters:
    use_sim_time: True
    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_plugin: "progress_checker"
    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
    controller_plugins: ["FollowPath"]
    speed_limit_topic: "/speed_limit"

    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    # Goal checker parameters
    #precise_goal_checker:
    #  plugin: "nav2_controller::SimpleGoalChecker"
    #  xy_goal_tolerance: 0.25
    #  yaw_goal_tolerance: 0.25
    #  stateful: True
    general_goal_checker:
      stateful: True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 0.4
      max_vel_y: 0.0
      max_vel_theta: 0.5
      min_speed_xy: 0.0
      max_speed_xy: 0.4
      min_speed_theta: 0.0
      # Add high threshold velocity for turtlebot 3 issue.
      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
      acc_lim_x: 2.5
      acc_lim_y: 0.0
      acc_lim_theta: 3.2
      decel_lim_x: -2.5
      decel_lim_y: 0.0
      decel_lim_theta: -3.2
      vx_samples: 20
      vy_samples: 5
      vtheta_samples: 20
      sim_time: 1.7
      linear_granularity: 0.05
      angular_granularity: 0.025
      transform_tolerance: 0.2
      xy_goal_tolerance: 0.25
      trans_stopped_velocity: 0.25
      short_circuit_trajectory_evaluation: True
      stateful: True
      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
      BaseObstacle.scale: 0.02
      PathAlign.scale: 32.0
      PathAlign.forward_point_distance: 0.1
      GoalAlign.scale: 24.0
      GoalAlign.forward_point_distance: 0.1
      PathDist.scale: 32.0
      GoalDist.scale: 24.0
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0

controller_server_rclcpp_node:
  ros__parameters:
    use_sim_time: True

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_footprint
      use_sim_time: True
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.25
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      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:
          topic: /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: 0.0
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: True
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_footprint
      use_sim_time: True
      robot_radius: 0.25
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      filters: ["speed_filter"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /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: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.25
      speed_filter:
        plugin: "nav2_costmap_2d::SpeedFilter"
        enabled: True
        filter_info_topic: "/costmap_filter_info"
        speed_limit_topic: "/speed_limit"
      always_send_full_costmap: True
  global_costmap_client:
    ros__parameters:
      use_sim_time: True
  global_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: True

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

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:
    expected_planner_frequency: 20.0 
    use_sim_time: True
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5 
      use_astar: true # false 使用Dijkstra 算法，为true 时使用A*算法。
      allow_unknown: true

planner_server_rclcpp_node:
  ros__parameters:
    use_sim_time: True

smoother_server:
  ros__parameters:
    use_sim_time: True
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-5 #平滑过程中的容差1.0e-10->1.0e-5,适当增大容差，以减少计算时间
      max_its: 500 #最大迭代次数1000->500,提高效率
      do_refinement: True

behavior_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
    #behavior_plugins: ["spin", "drive_on_heading", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"
    backup:
      plugin: "nav2_behaviors/BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors/DriveOnHeading"
    wait:
      plugin: "nav2_behaviors/Wait"
    global_frame: odom
    robot_base_frame: base_footprint
    transform_tolerance: 0.1
    use_sim_time: true
    simulate_ahead_time: 2.0
    max_rotational_vel: 0.4
    min_rotational_vel: 0.2
    rotational_acc_lim: 3.2

robot_state_publisher:
  ros__parameters:
    use_sim_time: True

waypoint_follower:
  ros__parameters:
    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

ᯤ⁹⁹ᴳ⁺

此回复已被删除！