# 2.为FishBot配置Nav2 安装好了Nav2，我们开始针对我们的fishbot改变一些参数进行导航相关的参数配置。Nav2可配置的参数比起Cartographer更多，但是不要害怕，因为大多数参数我们可能不会改变。 > 有关Nav2的更多参数介绍和详细的配置意义，可以参考**Nav2中文网配置指南**一节。 本节主要准备两个文件给launch节点使用，第一个是地图文件，第二个是nav2参数文件。 ## 1.创建fishbot_navigation2 ### 1.1创建功能包 和前面在Cartographer中一样，我们需要创建一个文件夹放置配置文件、launch文件、rviz配置和地图等。 进入到src目录下，使用下面指令创建功能包： ```shell ros2 pkg create fishbot_navigation2 --dependencies nav2_bringup ``` 这里我们添加了一个依赖`nav2_bringup`，后面写launch文件要用到，这里提前添加一下依赖。 创建完成后的目录结构： ``` . ├── CMakeLists.txt ├── include │ └── fishbot_navigation2 ├── package.xml └── src 3 directories, 2 files ``` ### 1.2 添加maps文件夹 ``` cd src/fishbot_navigation2 mkdir launch config maps param rviz ``` ### 1.3 复制地图文件 将上一节的地图文件复制到map文件夹下。 复制完成后`fishbot_navigation2`的文件结构如下 ``` . ├── CMakeLists.txt ├── config ├── launch ├── maps │ ├── fishbot_map.png │ ├── fishbot_map.pgm │ ├── fishbot_map.yaml ├── package.xml ├── param └── rviz 5 directories, 5 files ``` ## 2.添加Nav2配置文件 ### 2.1 创建参数文件 我们需要配置的文件是Nav2的参数文件，同样的，贴心的Nav2已经为我们准备好了参数模板 ``` src/navigation2/nav2_bringup/bringup/params/nav2_params.yaml ``` 在`src/fishbot_navigation2/param/`目录下创建`fishbot_nav2.yaml` ```shell cd src/fishbot_navigation2/param/ touch fishbot_nav2.yaml ``` ### 2.2 复制参数 然后将`src/navigation2/nav2_bringup/bringup/params/nav2_params.yaml`的内容复制粘贴到`fishbot_nav2.yaml`文件中。 > **参数文件中的参数是谁的？** > > 在[5.1.4章节保存参数](chapt5/5.1ROS2参数介绍?id=_4体验参数)中，我们曾用`ros2 param dump `指令将某个节点的参数保存为一个`.yaml`格式的文件。`fishbot_nav2.yaml`文件就是保存Nav2相关节点参数的文件。 ## 3. 配置参数 其实参数不配置也是可以将Nav2跑起来的，但是后期想要更改运行的效果就需要对参数进行修改，所以有必要大概了解下参数的配置项和含义查询方法和修改方法。 ### 3.1 参数列表 | 编号 | 配置项 | 用途 | 对应模块与参数详解 | | ---- | ----------------- | ----------------------------------------------------- | ------------------------------------------------------------ | | 1 | amcl | 机器人定位 | [nav2_amcl](http://dev.nav2.fishros.com/doc/configuration/packages/configuring-amcl.html) | | 2 | bt_navigator | 导航行为树（用于加载行为树节点并根据xml配置进行调度） | [nav2_bt_navigator](http://dev.nav2.fishros.com/doc/configuration/packages/configuring-bt-navigator.html),[nav2_behavior_tree](http://dev.nav2.fishros.com/doc/configuration/packages/configuring-bt-xml.html) | | 3 | controller_server | 控制器服务器 | [nav2_controller](http://dev.nav2.fishros.com/doc/configuration/packages/configuring-controller-server.html),[nav2_dwb_controller](http://dev.nav2.fishros.com/doc/configuration/packages/configuring-dwb-controller.html),[nav2_regulated_pure_pursuit_controller](http://dev.nav2.fishros.com/doc/configuration/packages/configuring-regulated-pp.html) | | 4 | planner_server | 规划服务器 | [nav2_planner](http://dev.nav2.fishros.com/doc/configuration/packages/configuring-planner-server.html),[nav2_navfn_planner](http://dev.nav2.fishros.com/doc/configuration/packages/configuring-navfn.html),[smac_planner](http://dev.nav2.fishros.com/doc/configuration/packages/configuring-smac-planner.html) | | 5 | recoveries_server | 恢复服务器 | [nav2_recoveries](http://dev.nav2.fishros.com/doc/configuration/packages/configuring-recovery-server.html) | | 6 | local_costmap | 局部代价地图 | [nav2_costmap_2d](http://dev.nav2.fishros.com/doc/configuration/packages/configuring-costmaps.html),[static_layer](http://dev.nav2.fishros.com/doc/configuration/packages/costmap-plugins/static.html),[inflation_layer](http://dev.nav2.fishros.com/doc/configuration/packages/costmap-plugins/inflation.html) | | 7 | global_costmap | 全局代价地图 | [nav2_costmap_2d](http://dev.nav2.fishros.com/doc/configuration/packages/configuring-costmaps.html),[nav2_map_server](http://dev.nav2.fishros.com/doc/configuration/packages/configuring-map-server.html) | 有关更多的Nav2所有参数的详细介绍，可以访问Nav2中文网中的配置指南章节，非常的详细，无比的具体。 ![](2.为FishBot配置Nav2/imgs/image-20220517203105467.png) ### 3.2 配置机器人半径和碰撞半径 在全局代价地图和局部代价地图配置用，默认的机器人半径是0.22，而我们fishbot的半径是0.12，所以需要修改机器人的半径为0.12。 ```yaml local_costmap: local_costmap: ros__parameters: robot_radius: 0.12 global_costmap: global_costmap: ros__parameters: robot_radius: 0.12 ``` 为了防止机器人发生碰撞，一般我们会给代价地图添加一个碰撞层（inflation_layer），在`local_costmap`和`global_costmap`配置中，你可以看到下面关于代价地图相关的配置： ```yaml global_costmap: global_costmap: ros__parameters: plugins: ["static_layer", "obstacle_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 inflation_radius: 0.55 ``` 打开参数配置中的[inflation_layer](http://dev.nav2.fishros.com/doc/configuration/packages/costmap-plugins/inflation.html)，我们来看看其配置项和含义。 可以看到`inflation_radius`默认0.55对fishbot来说可能有些大了，我们改小些。 ``` global_costmap: global_costmap: ros__parameters: plugins: ["static_layer", "obstacle_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 3.0 inflation_radius: 0.35 ``` **以上就是以代价地图碰撞半径为例的配置方法，nav2可以配置的参数非常多，假如你在导航过程中遇到问题，根据问题的表现推断下是哪个模块中造成的，接着修改其对应参数，大概率就可以解决问题，解决不了的可以看源码详细分析。** ### 3.3 配置frame_id和话题 这里也不用配置，因为我们的fishbot话题名称和tf名称都是遵循着默认的话题的。 如果你的机器人不是，或者你改变了话题，这里就需要重新配置。 - 默认全局的坐标系：map - 默认里程计坐标系：odom - 默认雷达话题：scan - 默认机器人基坐标系：base_link - 默认地图话题：map ## 4. 总结 本节我们简单的了解了Nav2各个模块参数的配置方法和参数的介绍，下一节就开始编写文件正式建图。 ## 完整的配置文件如下 ``` 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_link" 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: "nav2_amcl::DifferentialMotionModel" save_pose_rate: 0.5 sigma_hit: 0.2 tf_broadcast: true transform_tolerance: 10.0 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 bt_loop_duration: 10 default_server_timeout: 20 # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. plugin_lib_names: - nav2_compute_path_to_pose_action_bt_node - nav2_compute_path_through_poses_action_bt_node - nav2_smooth_path_action_bt_node - nav2_follow_path_action_bt_node - nav2_spin_action_bt_node - nav2_wait_action_bt_node - nav2_back_up_action_bt_node - nav2_drive_on_heading_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_globally_updated_goal_condition_bt_node - nav2_is_path_valid_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_truncate_path_local_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_path_expiring_timer_condition - nav2_distance_traveled_condition_bt_node - nav2_single_trigger_bt_node - nav2_is_battery_low_condition_bt_node - nav2_navigate_through_poses_action_bt_node - nav2_navigate_to_pose_action_bt_node - nav2_remove_passed_goals_action_bt_node - nav2_planner_selector_bt_node - nav2_controller_selector_bt_node - nav2_goal_checker_selector_bt_node - nav2_controller_cancel_bt_node - nav2_path_longer_on_approach_bt_node - nav2_wait_cancel_bt_node - nav2_spin_cancel_bt_node - nav2_back_up_cancel_bt_node - nav2_drive_on_heading_cancel_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 failure_tolerance: 0.3 progress_checker_plugin: "progress_checker" goal_checker_plugins: ["general_goal_checker"] # "precise_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 #precise_goal_checker: # plugin: "nav2_controller::SimpleGoalChecker" # xy_goal_tolerance: 0.25 # yaw_goal_tolerance: 0.25 # stateful: True general_goal_checker: stateful: True plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25 # 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" raytrace_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 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" raytrace_max_range: 3.0 raytrace_min_range: 0.0 obstacle_max_range: 2.5 obstacle_min_range: 0.0 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: 5.0 free_thresh_default: 0.25 occupied_thresh_default: 0.65 map_subscribe_transient_local: True 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 smoother_server: ros__parameters: use_sim_time: True smoother_plugins: ["simple_smoother"] simple_smoother: plugin: "nav2_smoother::SimpleSmoother" tolerance: 1.0e-10 max_its: 1000 do_refinement: True behavior_server: ros__parameters: costmap_topic: local_costmap/costmap_raw footprint_topic: local_costmap/published_footprint cycle_frequency: 10.0 behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"] spin: plugin: "nav2_behaviors/Spin" backup: plugin: "nav2_behaviors/BackUp" drive_on_heading: plugin: "nav2_behaviors/DriveOnHeading" wait: plugin: "nav2_behaviors/Wait" global_frame: odom robot_base_frame: base_link transform_tolerance: 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 waypoint_follower: ros__parameters: loop_rate: 20 stop_on_failure: false waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" enabled: True waypoint_pause_duration: 200 ``` -------------- 技术交流&&问题求助： - **微信公众号及交流群：鱼香ROS** - **小鱼微信：AiIotRobot** - **QQ交流群：139707339** - 版权保护：已加入“维权骑士”（rightknights.com）的版权保护计划