Jun 21, 2024: 735 new parameters in nav2_bringup/. · Nav2 default-parameter changelog (demo)

Jun 21, 2024 · e5cc260 · 3 watched files, +1,002/−0

735 new parameters in nav2_bringup/.

params

New file nav2_bringup/params/nav2_multirobot_params_1.yaml defines 233 parameters, including 31 highlighted (see the full analysis).
New file nav2_bringup/params/nav2_multirobot_params_2.yaml defines 232 parameters, including 31 highlighted (see the full analysis).
New file nav2_bringup/params/nav2_multirobot_params_all.yaml defines 270 parameters, including 38 highlighted (see the full analysis).
Most activity in nav2_bringup/ (+1,002/−0).

Full analysis → Summary: automatic analysis

Changed values

None.

Added (735)

Name	Value	Type	File
`amcl.alpha1`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.alpha2`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.alpha3`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.alpha4`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.alpha5`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.base_frame_id`	`"base_footprint"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.beam_skip_distance`	`0.5`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.beam_skip_error_threshold`	`0.9`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.beam_skip_threshold`	`0.3`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.do_beamskip`	`false`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.global_frame_id`	`"map"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.lambda_short`	`0.1`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.laser_likelihood_max_dist`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.laser_max_range`	`100.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.laser_min_range`	`-1.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.laser_model_type`	`"likelihood_field"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.max_beams`	`60`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.max_particles`	`2000`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.min_particles`	`500`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.odom_frame_id`	`"odom"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.pf_err`	`0.05`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.pf_z`	`0.99`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.recovery_alpha_fast`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.recovery_alpha_slow`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.resample_interval`	`1`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.robot_model_type`	`"nav2_amcl::DifferentialMotionModel"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.save_pose_rate`	`0.5`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.scan_topic`	`scan`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.sigma_hit`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.tf_broadcast`	`true`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.transform_tolerance`	`1.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.update_min_a`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.update_min_d`	`0.25`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.z_hit`	`0.5`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.z_max`	`0.05`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.z_rand`	`0.5`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.z_short`	`0.05`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.backup.plugin`	`"nav2_behaviors::BackUp"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.behavior_plugins`	`["spin", "backup", "drive_on_heading", "wait"]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.costmap_topic`	`local_costmap/costmap_raw`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.cycle_frequency`	`10.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.drive_on_heading.plugin`	`"nav2_behaviors::DriveOnHeading"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.footprint_topic`	`local_costmap/published_footprint`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.global_frame`	`odom`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.max_rotational_vel`	`1.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.min_rotational_vel`	`0.4`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.robot_base_frame`	`base_link`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.rotational_acc_lim`	`3.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.simulate_ahead_time`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.spin.plugin`	`"nav2_behaviors::Spin"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.transform_tolerance`	`0.1`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`behavior_server.wait.plugin`	`"nav2_behaviors::Wait"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator.action_server_result_timeout`	`900.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator.bt_loop_duration`	`10`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator.default_server_timeout`	`20`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator.error_code_names`	`[compute_path_error_code, follow_path_error_code]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator.global_frame`	`map`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator.navigate_through_poses.plugin`	`"nav2_bt_navigator::NavigateThroughPosesNavigator"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator.navigate_to_pose.plugin`	`"nav2_bt_navigator::NavigateToPoseNavigator"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator.navigators`	`["navigate_to_pose", "navigate_through_poses"]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator.odom_topic`	`/odom`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator.robot_base_frame`	`base_link`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`bt_navigator.wait_for_service_timeout`	`1000`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.action_type`	`"approach"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.enabled`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.footprint_topic`	`"local_costmap/published_footprint"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.min_points`	`6`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.simulation_time_step`	`0.1`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.time_before_collision`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.type`	`"polygon"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.FootprintApproach.visualize`	`False`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.base_frame_id`	`"base_footprint"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.base_shift_correction`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.cmd_vel_in_topic`	`"cmd_vel_smoothed"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.cmd_vel_out_topic`	`"cmd_vel"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.observation_sources`	`["scan"]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.odom_frame_id`	`"odom"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.polygons`	`["FootprintApproach"]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.scan.enabled`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.scan.max_height`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.scan.min_height`	`0.15`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.scan.topic`	`"/robot1/scan"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.scan.type`	`"scan"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.source_timeout`	`1.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.state_topic`	`"collision_monitor_state"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.stop_pub_timeout`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`collision_monitor.transform_tolerance`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.BaseObstacle.scale`	`0.02`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.GoalAlign.scale`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.GoalDist.scale`	`24.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.PathAlign.scale`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.PathDist.scale`	`32.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.RotateToGoal.lookahead_time`	`-1.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.RotateToGoal.scale`	`32.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.RotateToGoal.slowing_factor`	`5.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.acc_lim_theta`	`3.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.acc_lim_x`	`2.5`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.acc_lim_y`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.angular_granularity`	`0.025`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.critics`	`["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathD`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.debug_trajectory_details`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.decel_lim_theta`	`-3.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.decel_lim_x`	`-2.5`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.decel_lim_y`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.linear_granularity`	`0.05`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.max_speed_xy`	`0.26`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.max_vel_theta`	`1.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.max_vel_x`	`0.26`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.max_vel_y`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.min_speed_theta`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.min_speed_xy`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.min_vel_x`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.min_vel_y`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.plugin`	`"dwb_core::DWBLocalPlanner"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.short_circuit_trajectory_evaluation`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.sim_time`	`1.7`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.stateful`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.trans_stopped_velocity`	`0.25`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.transform_tolerance`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.vtheta_samples`	`20`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.vx_samples`	`20`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.FollowPath.vy_samples`	`5`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.controller_frequency`	`20.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.controller_plugins`	`["FollowPath"]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.goal_checker.plugin`	`"nav2_controller::SimpleGoalChecker"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.goal_checker.stateful`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.goal_checker.xy_goal_tolerance`	`0.25`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.goal_checker.yaw_goal_tolerance`	`0.25`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.goal_checker_plugins`	`["goal_checker"]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.min_theta_velocity_threshold`	`0.001`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.min_x_velocity_threshold`	`0.001`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.min_y_velocity_threshold`	`0.5`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.progress_checker.movement_time_allowance`	`10.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.progress_checker.plugin`	`"nav2_controller::SimpleProgressChecker"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.progress_checker.required_movement_radius`	`0.5`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`controller_server.progress_checker_plugins`	`["progress_checker"]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.base_frame`	`"base_link"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.controller.k_delta`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.controller.k_phi`	`3.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.controller.v_linear_max`	`0.15`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.controller.v_linear_min`	`0.15`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.controller_frequency`	`50.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.dock_approach_timeout`	`30.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.dock_backwards`	`false`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.dock_plugins`	`['simple_charging_dock']`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.dock_prestaging_tolerance`	`0.5`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.docks`	`['home_dock']`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.fixed_frame`	`"odom"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.home_dock.frame`	`map`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.home_dock.pose`	`[0.0, 0.0, 0.0]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.home_dock.type`	`'simple_charging_dock'`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.initial_perception_timeout`	`5.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.max_retries`	`3`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.simple_charging_dock.docking_threshold`	`0.05`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.simple_charging_dock.external_detection_rotation_pitch`	`-1.57`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.simple_charging_dock.external_detection_rotation_roll`	`-1.57`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.simple_charging_dock.external_detection_rotation_yaw`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.simple_charging_dock.external_detection_timeout`	`1.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.simple_charging_dock.external_detection_translation_x`	`-0.18`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.simple_charging_dock.external_detection_translation_y`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.simple_charging_dock.filter_coef`	`0.1`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.simple_charging_dock.plugin`	`'opennav_docking::SimpleChargingDock'`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.simple_charging_dock.staging_x_offset`	`-0.7`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.simple_charging_dock.use_battery_status`	`false`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.simple_charging_dock.use_external_detection_pose`	`true`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.simple_charging_dock.use_stall_detection`	`false`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.undock_angular_tolerance`	`0.1`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.undock_linear_tolerance`	`0.05`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`docking_server.wait_charge_timeout`	`5.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.always_send_full_costmap`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.inflation_layer.cost_scaling_factor`	`3.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.inflation_layer.inflation_radius`	`0.55`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.inflation_layer.plugin`	`"nav2_costmap_2d::InflationLayer"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.obstacle_layer.enabled`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.obstacle_layer.observation_sources`	`scan`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.obstacle_layer.plugin`	`"nav2_costmap_2d::ObstacleLayer"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.obstacle_layer.scan.clearing`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.obstacle_layer.scan.data_type`	`"LaserScan"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.obstacle_layer.scan.marking`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.obstacle_layer.scan.max_obstacle_height`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.obstacle_layer.scan.obstacle_max_range`	`2.5`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.obstacle_layer.scan.obstacle_min_range`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.obstacle_layer.scan.raytrace_max_range`	`3.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.obstacle_layer.scan.raytrace_min_range`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.obstacle_layer.scan.topic`	`/robot1/scan`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.plugins`	`["static_layer", "obstacle_layer", "inflation_layer"]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.robot_radius`	`0.22`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.static_layer.map_subscribe_transient_local`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`global_costmap.global_costmap.static_layer.plugin`	`"nav2_costmap_2d::StaticLayer"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.always_send_full_costmap`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.global_frame`	`odom`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.height`	`3`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.inflation_layer.cost_scaling_factor`	`3.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.inflation_layer.inflation_radius`	`0.55`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.inflation_layer.plugin`	`"nav2_costmap_2d::InflationLayer"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.plugins`	`["voxel_layer", "inflation_layer"]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.resolution`	`0.05`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.robot_radius`	`0.22`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.rolling_window`	`true`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.static_layer.map_subscribe_transient_local`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.enabled`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.mark_threshold`	`0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.max_obstacle_height`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.observation_sources`	`scan`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.origin_z`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.plugin`	`"nav2_costmap_2d::VoxelLayer"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.publish_voxel_map`	`False`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.scan.clearing`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.scan.data_type`	`"LaserScan"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.scan.marking`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.scan.max_obstacle_height`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.scan.obstacle_max_range`	`2.5`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.scan.obstacle_min_range`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.scan.raytrace_max_range`	`3.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.scan.raytrace_min_range`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.scan.topic`	`/robot1/scan`	expr	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.z_resolution`	`0.05`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.voxel_layer.z_voxels`	`16`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`local_costmap.local_costmap.width`	`3`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`map_server.save_map_timeout`	`5.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`map_server.yaml_filename`	`"tb3_sandbox.yaml"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`planner_server.GridBased.allow_unknown`	`true`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`planner_server.GridBased.plugin`	`"nav2_navfn_planner::NavfnPlanner"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`planner_server.GridBased.tolerance`	`0.5`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`planner_server.GridBased.use_astar`	`false`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`planner_server.planner_plugins`	`["GridBased"]`	list	nav2_bringup/params/nav2_multirobot_params_1.yaml
`waypoint_follower.action_server_result_timeout`	`900.0`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`waypoint_follower.loop_rate`	`20`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`waypoint_follower.stop_on_failure`	`false`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`waypoint_follower.wait_at_waypoint.enabled`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_1.yaml
`waypoint_follower.wait_at_waypoint.plugin`	`"nav2_waypoint_follower::WaitAtWaypoint"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`waypoint_follower.wait_at_waypoint.waypoint_pause_duration`	`200`	number	nav2_bringup/params/nav2_multirobot_params_1.yaml
`waypoint_follower.waypoint_task_executor_plugin`	`"wait_at_waypoint"`	string	nav2_bringup/params/nav2_multirobot_params_1.yaml
`amcl.alpha1`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.alpha2`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.alpha3`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.alpha4`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.alpha5`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.base_frame_id`	`"base_footprint"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.beam_skip_distance`	`0.5`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.beam_skip_error_threshold`	`0.9`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.beam_skip_threshold`	`0.3`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.do_beamskip`	`false`	bool	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.global_frame_id`	`"map"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.lambda_short`	`0.1`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.laser_likelihood_max_dist`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.laser_max_range`	`100.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.laser_min_range`	`-1.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.laser_model_type`	`"likelihood_field"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.max_beams`	`60`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.max_particles`	`2000`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.min_particles`	`500`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.odom_frame_id`	`"odom"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.pf_err`	`0.05`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.pf_z`	`0.99`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.recovery_alpha_fast`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.recovery_alpha_slow`	`0.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.resample_interval`	`1`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.robot_model_type`	`"nav2_amcl::DifferentialMotionModel"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.save_pose_rate`	`0.5`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.scan_topic`	`scan`	expr	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.sigma_hit`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.tf_broadcast`	`true`	bool	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.transform_tolerance`	`1.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.update_min_a`	`0.2`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.update_min_d`	`0.25`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.z_hit`	`0.5`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.z_max`	`0.05`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.z_rand`	`0.5`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`amcl.z_short`	`0.05`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.backup.plugin`	`"nav2_behaviors::BackUp"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.behavior_plugins`	`["spin", "backup", "drive_on_heading", "wait"]`	list	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.costmap_topic`	`local_costmap/costmap_raw`	expr	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.cycle_frequency`	`10.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.drive_on_heading.plugin`	`"nav2_behaviors::DriveOnHeading"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.footprint_topic`	`local_costmap/published_footprint`	expr	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.global_frame`	`odom`	expr	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.max_rotational_vel`	`1.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.min_rotational_vel`	`0.4`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.robot_base_frame`	`base_link`	expr	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.rotational_acc_lim`	`3.2`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.simulate_ahead_time`	`2.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.spin.plugin`	`"nav2_behaviors::Spin"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.transform_tolerance`	`0.1`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`behavior_server.wait.plugin`	`"nav2_behaviors::Wait"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator.action_server_result_timeout`	`900.0`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator.bt_loop_duration`	`10`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator.default_server_timeout`	`20`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator.error_code_names`	`[compute_path_error_code, follow_path_error_code]`	list	nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator.global_frame`	`map`	expr	nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator.navigate_through_poses.plugin`	`"nav2_bt_navigator::NavigateThroughPosesNavigator"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator.navigate_to_pose.plugin`	`"nav2_bt_navigator::NavigateToPoseNavigator"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator.navigators`	`["navigate_to_pose", "navigate_through_poses"]`	list	nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator.odom_topic`	`/odom`	expr	nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator.robot_base_frame`	`base_link`	expr	nav2_bringup/params/nav2_multirobot_params_2.yaml
`bt_navigator.wait_for_service_timeout`	`1000`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.FootprintApproach.action_type`	`"approach"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.FootprintApproach.enabled`	`True`	bool	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.FootprintApproach.footprint_topic`	`"local_costmap/published_footprint"`	string	nav2_bringup/params/nav2_multirobot_params_2.yaml
`collision_monitor.FootprintApproach.min_points`	`6`	number	nav2_bringup/params/nav2_multirobot_params_2.yaml

…and 435 more.

Post text

No post: ambiguous: bulk change (735 parameters added); needs a hand-written post.

Modules touched

Module	Added	Modified	Removed	Lines +	Lines −
`nav2_bringup`	3	0	0	+1,002	−0

Watched files (3)

Show file list

	Path	Lines
A	nav2_bringup/params/nav2_multirobot_params_1.yaml	+314/−0
A	nav2_bringup/params/nav2_multirobot_params_2.yaml	+313/−0
A	nav2_bringup/params/nav2_multirobot_params_all.yaml	+375/−0

Commit message

Reintroduce multirobot launch files with updates to TB3 with Harmonic (#4457)

* adding docking to multirobot launch files

* Use xacro file to plumb namespace into gz topics (#4450)

This also removes the `use_simulator` launch argument since it's not
needed by spawn_tb3.launch.py

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* fixing collision monitor

* add launch files

* update tests to use xacro

* rever

* Bump cache

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update underlay.repos

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>