nav2_bringup/params/nav2_multirobot_params_all.yaml defines 211 parameters, including 33 highlighted (see the full analysis).nav2_bringup/ (+345/−0).Full analysis → Summary: automatic analysis
None.
| Name | Value | Type | File |
|---|---|---|---|
amcl.alpha1 | 0.2 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.alpha2 | 0.2 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.alpha3 | 0.2 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.alpha4 | 0.2 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.alpha5 | 0.2 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.base_frame_id | "base_footprint" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.beam_skip_distance | 0.5 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.beam_skip_error_threshold | 0.9 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.beam_skip_threshold | 0.3 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.do_beamskip | false | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.global_frame_id | "map" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.lambda_short | 0.1 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.laser_likelihood_max_dist | 2.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.laser_max_range | 100.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.laser_min_range | -1.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.laser_model_type | "likelihood_field" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.max_beams | 60 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.max_particles | 2000 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.min_particles | 500 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.odom_frame_id | "odom" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.pf_err | 0.05 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.pf_z | 0.99 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.recovery_alpha_fast | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.recovery_alpha_slow | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.resample_interval | 1 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.robot_model_type | "nav2_amcl::DifferentialMotionModel" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.save_pose_rate | 0.5 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.scan_topic | scan | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.sigma_hit | 0.2 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.tf_broadcast | true | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.transform_tolerance | 1.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.update_min_a | 0.2 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.update_min_d | 0.25 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.z_hit | 0.5 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.z_max | 0.05 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.z_rand | 0.5 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
amcl.z_short | 0.05 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.assisted_teleop.plugin | "nav2_behaviors/AssistedTeleop" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.backup.plugin | "nav2_behaviors/BackUp" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.behavior_plugins | ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.cycle_frequency | 10.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.drive_on_heading.plugin | "nav2_behaviors/DriveOnHeading" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.global_costmap_topic | global_costmap/costmap_raw | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.global_footprint_topic | global_costmap/published_footprint | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.global_frame | map | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.local_costmap_topic | local_costmap/costmap_raw | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.local_footprint_topic | local_costmap/published_footprint | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.local_frame | odom | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.max_rotational_vel | 1.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.min_rotational_vel | 0.4 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.robot_base_frame | base_link | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.rotational_acc_lim | 3.2 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.simulate_ahead_time | 2.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.spin.plugin | "nav2_behaviors/Spin" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.transform_tolerance | 0.1 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
behavior_server.wait.plugin | "nav2_behaviors/Wait" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
bt_navigator.bt_loop_duration | 10 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
bt_navigator.default_server_timeout | 20 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
bt_navigator.error_code_names | [compute_path_error_code, follow_path_error_code] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
bt_navigator.global_frame | map | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
bt_navigator.navigate_through_poses.plugin | "nav2_bt_navigator/NavigateThroughPosesNavigator" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
bt_navigator.navigate_to_pose.plugin | "nav2_bt_navigator/NavigateToPoseNavigator" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
bt_navigator.navigators | ["navigate_to_pose", "navigate_through_poses"] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
bt_navigator.odom_topic | /odom | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
bt_navigator.plugin_lib_names | [nav2_compute_path_to_pose_action_bt_node, nav2_compute_path_through_poses_actio | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
bt_navigator.robot_base_frame | base_link | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.BaseObstacle.scale | 0.02 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.GoalAlign.forward_point_distance | 0.1 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.GoalAlign.scale | 24.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.GoalDist.scale | 24.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.PathAlign.forward_point_distance | 0.1 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.PathAlign.scale | 32.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.PathDist.scale | 32.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.RotateToGoal.lookahead_time | -1.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.RotateToGoal.scale | 32.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.RotateToGoal.slowing_factor | 5.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.acc_lim_theta | 3.2 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.acc_lim_x | 2.5 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.acc_lim_y | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.angular_granularity | 0.025 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.critics | ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathD | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.debug_trajectory_details | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.decel_lim_theta | -3.2 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.decel_lim_x | -2.5 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.decel_lim_y | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.linear_granularity | 0.05 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.max_speed_xy | 0.26 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.max_vel_theta | 1.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.max_vel_x | 0.26 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.max_vel_y | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.min_speed_theta | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.min_speed_xy | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.min_vel_x | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.min_vel_y | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.plugin | "dwb_core::DWBLocalPlanner" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.short_circuit_trajectory_evaluation | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.sim_time | 1.7 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.stateful | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.trans_stopped_velocity | 0.25 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.transform_tolerance | 0.2 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.vtheta_samples | 20 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.vx_samples | 20 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.vy_samples | 5 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.FollowPath.xy_goal_tolerance | 0.25 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.controller_frequency | 20.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.controller_plugins | ["FollowPath"] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.failure_tolerance | 0.3 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.general_goal_checker.plugin | "nav2_controller::SimpleGoalChecker" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.general_goal_checker.stateful | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.general_goal_checker.xy_goal_tolerance | 0.25 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.general_goal_checker.yaw_goal_tolerance | 0.25 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.goal_checker_plugins | ["general_goal_checker"] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.min_theta_velocity_threshold | 0.001 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.min_x_velocity_threshold | 0.001 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.min_y_velocity_threshold | 0.5 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.progress_checker.movement_time_allowance | 10.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.progress_checker.plugin | "nav2_controller::SimpleProgressChecker" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.progress_checker.required_movement_radius | 0.5 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
controller_server.progress_checker_plugins | ["progress_checker"] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.always_send_full_costmap | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.global_frame | map | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.inflation_layer.cost_scaling_factor | 3.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.inflation_layer.inflation_radius | 0.55 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.inflation_layer.plugin | "nav2_costmap_2d::InflationLayer" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.obstacle_layer.enabled | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.obstacle_layer.observation_sources | scan | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.obstacle_layer.plugin | "nav2_costmap_2d::ObstacleLayer" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.obstacle_layer.scan.clearing | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.obstacle_layer.scan.data_type | "LaserScan" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.obstacle_layer.scan.marking | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.obstacle_layer.scan.max_obstacle_height | 2.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.obstacle_layer.scan.obstacle_max_range | 2.5 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.obstacle_layer.scan.obstacle_min_range | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.obstacle_layer.scan.raytrace_max_range | 3.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.obstacle_layer.scan.raytrace_min_range | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.obstacle_layer.scan.topic | <robot_namespace>/scan | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.plugins | ["static_layer", "obstacle_layer", "inflation_layer"] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.publish_frequency | 1.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.resolution | 0.05 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.robot_base_frame | base_link | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.robot_radius | 0.22 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.static_layer.map_subscribe_transient_local | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.static_layer.plugin | "nav2_costmap_2d::StaticLayer" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.track_unknown_space | true | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
global_costmap.global_costmap.update_frequency | 1.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.always_send_full_costmap | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.global_frame | odom | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.height | 3 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.inflation_layer.cost_scaling_factor | 3.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.inflation_layer.inflation_radius | 0.55 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.inflation_layer.plugin | "nav2_costmap_2d::InflationLayer" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.plugins | ["voxel_layer", "inflation_layer"] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.publish_frequency | 2.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.resolution | 0.05 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.robot_base_frame | base_link | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.robot_radius | 0.22 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.rolling_window | true | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.static_layer.map_subscribe_transient_local | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.static_layer.plugin | "nav2_costmap_2d::StaticLayer" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.update_frequency | 5.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.enabled | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.mark_threshold | 0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.max_obstacle_height | 2.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.observation_sources | scan | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.origin_z | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.plugin | "nav2_costmap_2d::VoxelLayer" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.publish_voxel_map | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.scan.clearing | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.scan.data_type | "LaserScan" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.scan.marking | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.scan.max_obstacle_height | 2.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.scan.obstacle_max_range | 2.5 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.scan.obstacle_min_range | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.scan.raytrace_max_range | 3.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.scan.raytrace_min_range | 0.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.scan.topic | <robot_namespace>/scan | expr | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.z_resolution | 0.05 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.voxel_layer.z_voxels | 16 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
local_costmap.local_costmap.width | 3 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
map_saver.free_thresh_default | 0.25 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
map_saver.map_subscribe_transient_local | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
map_saver.occupied_thresh_default | 0.65 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
map_saver.save_map_timeout | 5.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
planner_server.GridBased.allow_unknown | true | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
planner_server.GridBased.plugin | "nav2_navfn_planner/NavfnPlanner" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
planner_server.GridBased.tolerance | 0.5 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
planner_server.GridBased.use_astar | false | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
planner_server.expected_planner_frequency | 20.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
planner_server.planner_plugins | ["GridBased"] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
smoother_server.simple_smoother.do_refinement | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
smoother_server.simple_smoother.max_its | 1000 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
smoother_server.simple_smoother.plugin | "nav2_smoother::SimpleSmoother" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
smoother_server.simple_smoother.tolerance | 1.0e-10 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
smoother_server.smoother_plugins | ["simple_smoother"] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
velocity_smoother.deadband_velocity | [0.0, 0.0, 0.0] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
velocity_smoother.feedback | "OPEN_LOOP" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
velocity_smoother.max_accel | [2.5, 0.0, 3.2] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
velocity_smoother.max_decel | [-2.5, 0.0, -3.2] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
velocity_smoother.max_velocity | [0.26, 0.0, 1.0] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
velocity_smoother.min_velocity | [-0.26, 0.0, -1.0] | list | nav2_bringup/params/nav2_multirobot_params_all.yaml |
velocity_smoother.odom_duration | 0.1 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
velocity_smoother.odom_topic | "odom" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
velocity_smoother.scale_velocities | False | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
velocity_smoother.smoothing_frequency | 20.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
velocity_smoother.velocity_timeout | 1.0 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
waypoint_follower.loop_rate | 20 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
waypoint_follower.stop_on_failure | false | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
waypoint_follower.wait_at_waypoint.enabled | True | bool | nav2_bringup/params/nav2_multirobot_params_all.yaml |
waypoint_follower.wait_at_waypoint.plugin | "nav2_waypoint_follower::WaitAtWaypoint" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
waypoint_follower.wait_at_waypoint.waypoint_pause_duration | 200 | number | nav2_bringup/params/nav2_multirobot_params_all.yaml |
waypoint_follower.waypoint_task_executor_plugin | "wait_at_waypoint" | string | nav2_bringup/params/nav2_multirobot_params_all.yaml |
No post: ambiguous: bulk change (211 parameters added); needs a hand-written post.
| Module | Added | Modified | Removed | Lines + | Lines − |
|---|---|---|---|---|---|
nav2_bringup | 1 | 0 | 0 | +345 | −0 |
| Path | Lines | Note | |
|---|---|---|---|
| A | nav2_bringup/params/nav2_multirobot_params_all.yaml | +345/−0 |
Rewrite the scan topic costmap plugins for multi-robot(namespace) before launch navigation. (#3572) * Make it possible to launch namspaced robot which rewrites `<robot_namespace>` to namespace. - It allows to apply namespace automatically on specific target topic path in costmap plugins. Add new nav2 params file for multi-robot(rewriting `<robot_namespace>`) as an example. - nav2_multirobot_params_all.yaml Modify nav2_common.ReplaceString - add condition argument * Update nav2_bringup/launch/bringup_launch.py Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> * Add new luanch script for multi-robot bringup Rename luanch script for multi-robot simulation bringup Add new nav2_common script - Parse argument - Parse multirobot pose Update README.md * Update README.md Apply suggestions from code review Fix pep257 erors Co-authored-by: Steve Macenski <stevenmacenski@gmail.com> --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>