diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d6c8f947738254218368e729b7f04ef19bde15b2
--- /dev/null
+++ b/config/nav2_params.yaml
@@ -0,0 +1,289 @@
+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: "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: /odom
+ 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: 20.0
+ 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
+ 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: 3
+ height: 3
+ resolution: 0.05
+ robot_radius: 0.22
+ 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"
+ 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: 0.22
+ 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: 0.55
+ 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: 5000
+ free_thresh_default: 0.25
+ occupied_thresh_default: 0.65
+ map_subscribe_transient_local: False
+
+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: false
+ allow_unknown: true
+
+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
\ No newline at end of file
diff --git a/launch/navigation_launch.py b/launch/navigation_launch.py
new file mode 100644
index 0000000000000000000000000000000000000000..14be1e43bf0ba85af0d3622c67f25bba103d7973
--- /dev/null
+++ b/launch/navigation_launch.py
@@ -0,0 +1,145 @@
+# Copyright (c) 2018 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from nav2_common.launch import RewrittenYaml
+
+
+def generate_launch_description():
+ # Get the launch directory
+ bringup_dir = get_package_share_directory('dev_loc')
+
+ namespace = LaunchConfiguration('namespace')
+ use_sim_time = LaunchConfiguration('use_sim_time')
+ autostart = LaunchConfiguration('autostart')
+ params_file = LaunchConfiguration('params_file')
+ default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
+ map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
+
+ lifecycle_nodes = ['controller_server',
+ 'planner_server',
+ 'recoveries_server',
+ 'bt_navigator',
+ 'waypoint_follower']
+
+ # Map fully qualified names to relative ones so the node's namespace can be prepended.
+ # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
+ # https://github.com/ros/geometry2/issues/32
+ # https://github.com/ros/robot_state_publisher/pull/30
+ # TODO(orduno) Substitute with `PushNodeRemapping`
+ # https://github.com/ros2/launch_ros/issues/56
+ remappings = [('/tf', 'tf'),
+ ('/tf_static', 'tf_static')]
+
+ # Create our own temporary YAML files that include substitutions
+ param_substitutions = {
+ 'use_sim_time': use_sim_time,
+ 'default_bt_xml_filename': default_bt_xml_filename,
+ 'autostart': autostart,
+ 'map_subscribe_transient_local': map_subscribe_transient_local}
+
+ configured_params = RewrittenYaml(
+ source_file=params_file,
+ root_key=namespace,
+ param_rewrites=param_substitutions,
+ convert_types=True)
+
+ return LaunchDescription([
+ # Set env var to print messages to stdout immediately
+ SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
+
+ DeclareLaunchArgument(
+ 'namespace', default_value='',
+ description='Top-level namespace'),
+
+ DeclareLaunchArgument(
+ 'use_sim_time', default_value='true',
+ description='Use simulation (Gazebo) clock if true'),
+
+ DeclareLaunchArgument(
+ 'autostart', default_value='true',
+ description='Automatically startup the nav2 stack'),
+
+ DeclareLaunchArgument(
+ 'params_file',
+ default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),
+ description='Full path to the ROS2 parameters file to use'),
+
+ DeclareLaunchArgument(
+ 'default_bt_xml_filename',
+ default_value=os.path.join(
+ get_package_share_directory('nav2_bt_navigator'),
+ 'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
+ description='Full path to the behavior tree xml file to use'),
+
+ DeclareLaunchArgument(
+ 'map_subscribe_transient_local', default_value='false',
+ description='Whether to set the map subscriber QoS to transient local'),
+
+ Node(
+ package='nav2_controller',
+ executable='controller_server',
+ output='screen',
+ parameters=[configured_params],
+ remappings=remappings),
+
+ Node(
+ package='nav2_planner',
+ executable='planner_server',
+ name='planner_server',
+ output='screen',
+ parameters=[configured_params],
+ remappings=remappings),
+
+ Node(
+ package='nav2_recoveries',
+ executable='recoveries_server',
+ name='recoveries_server',
+ output='screen',
+ parameters=[configured_params],
+ remappings=remappings),
+
+ Node(
+ package='nav2_bt_navigator',
+ executable='bt_navigator',
+ name='bt_navigator',
+ output='screen',
+ parameters=[configured_params],
+ remappings=remappings),
+
+ Node(
+ package='nav2_waypoint_follower',
+ executable='waypoint_follower',
+ name='waypoint_follower',
+ output='screen',
+ parameters=[configured_params],
+ remappings=remappings),
+
+ Node(
+ package='nav2_lifecycle_manager',
+ executable='lifecycle_manager',
+ name='lifecycle_manager_navigation',
+ output='screen',
+ parameters=[{'use_sim_time': use_sim_time},
+ {'autostart': autostart},
+ {'node_names': lifecycle_nodes}]),
+
+ ])