'working' nav2 for physical robot

README.md

@@ -1 +1,18 @@
 # Mirte navigation
+
+
+## how to
+- clone, rosdep and build
+- ```ros2 launch mirte_navigation robot_navigation.launch.py```
+- Creating map:
+  - remove map, run normal launch file
+  - ```ros2 launch slam_toolbox online_async_launch.py```
+  - drive around with ```ros2 launch mirte_teleop teleop_key.launch.py```
+  - after creating map: cd to maps/ and ```ros2 run nav2_map_server map_saver_cli -f map```
+
+
+## Todos
+- omni is not really working
+- min speed is often too low
+- initial pose is 'defaulted' to 0,0,0
+- target pose might be too far

launch/robot_navigation.launch.py

@@ -50,7 +50,33 @@ def generate_launch_description():
         ])],
         output="screen"
     )
-
+    relay_topic_cmd = Node(
+        package = "topic_tools",
+        executable = "relay",
+        arguments=["/cmd_vel", "/mirte_base_controller/cmd_vel"],
+        output="screen",
+    )
+    relay_topic_odom = Node(
+        package = "topic_tools",
+        executable = "relay",
+        arguments=["/mirte_base_controller/odom", "/odom"],
+        output="screen",
+    )
+    # tf_base_footprint = 
+    tf_base_frame = TimerAction(
+        period=1.0,  # Delay in seconds before starting the initial pose node
+        actions=[Node(
+        package = "tf2_ros",
+        executable = "static_transform_publisher",
+        arguments=["0", "0", "0", "0", "0", "0", "base_link", "base_frame"],
+        output="screen",
+    ),Node(
+        package = "tf2_ros",
+        executable = "static_transform_publisher",
+        arguments=["0", "0", "0", "0", "0", "0",  "base_link", "base_footprint"],
+        output="screen",
+    ),
+    ])
     initial_pose_node = TimerAction(
         period=1.0,  # Delay in seconds before starting the initial pose node
         actions=[
@@ -66,5 +92,8 @@ def generate_launch_description():
         localization_launch,
         initial_pose_node,
         navigation_launch,
-        rviz_command
+        rviz_command,
+        relay_topic_cmd,
+        relay_topic_odom,
+        tf_base_frame,
     ])

package.xml

@@ -15,7 +15,7 @@
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
-
+  <depend>topic_tools</depend>
   <export>
     <build_type>ament_python</build_type>
   </export>

params/mirte_nav2_params.yaml

@@ -25,7 +25,9 @@ amcl:
     recovery_alpha_fast: 0.0
     recovery_alpha_slow: 0.0
     resample_interval: 1
-    robot_model_type: "nav2_amcl::DifferentialMotionModel"
+    # robot_model_type: "nav2_amcl::DifferentialMotionModel"
+    robot_model_type: "nav2_amcl::OmniMotionModel"
+
     save_pose_rate: 0.5
     sigma_hit: 0.2
     tf_broadcast: true
@@ -70,7 +72,7 @@ controller_server:
     controller_frequency: 20.0
     costmap_update_timeout: 0.30
     min_x_velocity_threshold: 0.001
-    min_y_velocity_threshold: 0.5
+    min_y_velocity_threshold: 0.001
     min_theta_velocity_threshold: 0.001
     failure_tolerance: 0.3
     progress_checker_plugins: ["progress_checker"]
@@ -81,12 +83,12 @@ controller_server:
     # Progress checker parameters
     progress_checker:
       plugin: "nav2_controller::SimpleProgressChecker"
-      required_movement_radius: 0.5
+      required_movement_radius: 0.1
       movement_time_allowance: 10.0
     general_goal_checker:
       stateful: True
       plugin: "nav2_controller::SimpleGoalChecker"
-      xy_goal_tolerance: 0.4
+      xy_goal_tolerance: 0.1
       yaw_goal_tolerance: 6.2
     FollowPath:
       plugin: "nav2_mppi_controller::MPPIController"
@@ -109,7 +111,7 @@ controller_server:
       transform_tolerance: 0.1
       temperature: 0.3
       gamma: 0.015
-      motion_model: "DiffDrive"
+      motion_model: "Omni"
       visualize: true
       regenerate_noises: true
       TrajectoryVisualizer:
@@ -313,12 +315,12 @@ behavior_server:
       plugin: "nav2_behaviors/BackUp"
       acceleration_limit: 2.5
       deceleration_limit: -2.5
-      minimum_speed: 0.10
+      minimum_speed: 1.0
     drive_on_heading:
       plugin: "nav2_behaviors/DriveOnHeading"
       acceleration_limit: 2.5
       deceleration_limit: -2.5
-      minimum_speed: 0.10
+      minimum_speed: 1.0
     wait:
       plugin: "nav2_behaviors/Wait"
     assisted_teleop:
@@ -348,10 +350,10 @@ velocity_smoother:
     smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"
-    max_velocity: [0.5, 0.0, 1.0]
-    min_velocity: [-0.5, 0.0, -1.0]
-    max_accel: [2.5, 0.0, 3.2]
-    max_decel: [-2.5, 0.0, -3.2]
+    max_velocity: [1.0, 1.0, 1.0]
+    min_velocity: [-1.0, -1.0, -1.0]
+    max_accel: [2.5, 2.0, 3.2]
+    max_decel: [-2.5, -2.0, -3.2]
     odom_topic: "odom"
     odom_duration: 0.1
     deadband_velocity: [0.0, 0.0, 0.0]