Here is a modified config/nav2_params.yaml file:
amcl: ros__parameters: set_initial_pose: true initial_pose: x: -8.13 y: -5.1 z: 0.0 yaw: 0.0 use_sim_time: true alpha1: 0.002 alpha2: 0.002 alpha3: 0.002 alpha4: 0.002 alpha5: 0.002 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" initial_pose: [-8.13, -5.1, 0.0, 0.0] 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: "differential" 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_link odom_topic: /odometry/filtered enable_groot_monitoring: true groot_zmq_publisher_port: 1666 groot_zmq_server_port: 1667 default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml" plugin_lib_names: - nav2_compute_path_to_pose_action_bt_node - nav2_follow_path_action_bt_node - nav2_back_up_action_bt_node - nav2_spin_action_bt_node - nav2_wait_action_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_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_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_distance_traveled_condition_bt_node bt_navigator_rclcpp_node: ros__parameters: use_sim_time: true controller_server: ros__parameters: use_sim_time: true controller_frequency: 2.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 progress_checker_plugin: "progress_checker" goal_checker_plugin: "goal_checker" controller_plugins: ["FollowPath"] # Progress checker parameters progress_checker: plugin: "nav2_controller::SimpleProgressChecker" required_movement_radius: 0.5 movement_time_allowance: 10.0 # Goal checker parameters goal_checker: plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25 stateful: true # DWB parameters FollowPath: plugin: "dwb_core::DWBLocalPlanner" debug_trajectory_details: true min_vel_x: 0.0 min_vel_y: 0.0 # Default 0.26 for max_vel_x and max_speed_xy and 1.0 for max_vel_theta max_vel_x: 0.26 max_vel_y: 0.0 max_vel_theta: 1.0 min_speed_xy: 0.0 max_speed_xy: 0.26 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_link use_sim_time: true rolling_window: true width: 10 height: 10 resolution: 0.05 robot_radius: 0.75 plugins: ["voxel_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 inflation_radius: 0.95 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" 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_link use_sim_time: true robot_radius: 0.75 resolution: 0.05 track_unknown_space: true plugins: ["static_layer", "obstacle_layer", "inflation_layer"] 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" 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: 0.95 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: "map.yaml" topic_name: "map" frame_id: "map" map_saver: ros__parameters: use_sim_time: true save_map_timeout: 5000 free_thresh_default: 0.25 occupied_thresh_default: 0.65 map_subscribe_transient_local: false planner_server: ros__parameters: expected_planner_frequency: 2.0 use_sim_time: true planner_plugins: ["GridBased"] GridBased: plugin: "nav2_navfn_planner/NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true costmap_filter_info_server: ros__parameters: type: 1 filter_info_topic: "costmap_filter_info" mask_topic: "filter_mask" base: 0.0 multiplier: 0.25 planner_server_rclcpp_node: ros__parameters: use_sim_time: true recoveries_server: ros__parameters: costmap_topic: local_costmap/costmap_raw footprint_topic: local_costmap/published_footprint cycle_frequency: 10.0 recovery_plugins: ["spin", "back_up", "wait"] spin: plugin: "nav2_recoveries/Spin" back_up: plugin: "nav2_recoveries/BackUp" wait: plugin: "nav2_recoveries/Wait" global_frame: odom robot_base_frame: base_link transform_timeout: 0.1 use_sim_time: true simulate_ahead_time: 2.0 max_rotational_vel: 1.0 min_rotational_vel: 0.4 rotational_acc_lim: 3.2 robot_state_publisher: ros__parameters: use_sim_time: true slam_toolbox: ros__parameters: # Plugin params solver_plugin: solver_plugins::CeresSolver ceres_linear_solver: SPARSE_NORMAL_CHOLESKY ceres_preconditioner: SCHUR_JACOBI ceres_trust_strategy: LEVENBERG_MARQUARDT ceres_dogleg_type: TRADITIONAL_DOGLEG ceres_loss_function: None # ROS Parameters odom_frame: odom map_frame: map base_frame: base_footprint scan_topic: /scan mode: mapping #localization # if you'd like to immediately start continuing a map at a given pose # or at the dock, but they are mutually exclusive, if pose is given # will use pose #map_file_name: test_steve #map_start_pose: [0.0, 0.0, 0.0] #map_start_at_dock: true debug_logging: false throttle_scans: 1 transform_publish_period: 0.02 #if 0 never publishes odometry map_update_interval: 5.0 resolution: 0.05 max_laser_range: 20.0 #for rastering images minimum_time_interval: 0.5 transform_timeout: 0.2 tf_buffer_duration: 30. stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps enable_interactive_mode: true # General Parameters use_scan_matching: true use_scan_barycenter: true minimum_travel_distance: 0.5 minimum_travel_heading: 0.5 scan_buffer_size: 10 scan_buffer_maximum_scan_distance: 10.0 link_match_minimum_response_fine: 0.1 link_scan_maximum_distance: 1.5 loop_search_maximum_distance: 3.0 do_loop_closing: true loop_match_minimum_chain_size: 10 loop_match_maximum_variance_coarse: 3.0 loop_match_minimum_response_coarse: 0.35 loop_match_minimum_response_fine: 0.45 # Correlation Parameters - Correlation Parameters correlation_search_space_dimension: 0.5 correlation_search_space_resolution: 0.01 correlation_search_space_smear_deviation: 0.1 # Correlation Parameters - Loop Closure Parameters loop_search_space_dimension: 8.0 loop_search_space_resolution: 0.05 loop_search_space_smear_deviation: 0.03 # Scan Matcher Parameters distance_variance_penalty: 0.5 angle_variance_penalty: 1.0 fine_search_angle_offset: 0.00349 coarse_search_angle_offset: 0.349 coarse_angle_resolution: 0.0349 minimum_angle_penalty: 0.9 minimum_distance_penalty: 0.5 use_response_expansion: true waypoint_follower: ros__parameters: loop_rate: 1 stop_on_failure: false lifecycle_manager: ros__parameters: autostart: true node_names: ['nav2_map_server', 'controller_server', 'planner_server', 'behavior_server', 'bt_navigator', 'waypoint_follower'] bond_timeout: 4.0 attempt_respawn_reconnection: true bond_respawn_max_duration: 10.0
Let's take a look at the example fragment of such file, defining the local costmap footprint. In this configuration file, the footprint parameter of the local costmap was set with a rectangular-shaped footprint. This box is centered at the base_link frame.
resolution: 0.05 footprint: "[ [0.21, 0.3], [0.21, -0.3], [-0.21, -0.3], [-0.21, 0.3] ]" plugins: ["voxel_layer", "inflation_layer"]
As for the global costmap, we set the robot_radius parameter to create a circular footprint that matches robot's size and is centered at base_link.
use_sim_time: True robot_radius: 0.3 resolution: 0.05