miuav Navigation2 配置技能
Navigation2 完整配置指南
何时使用
当需要以下帮助时使用此技能：
- Nav2 参数配置
- Controller 调参
- Planner 调参
- Lifecycle 管理
- 完整导航栈搭建
核心配置
Controller 配置
# config/dwb_controller.yaml
dwb_controller:
ros__parameters:
# 发布频率
controller_frequency: 20.0
# lookahead 距离
lookahead_time: 1.0
lookahead_distance: 0.5
# 速度限制
max_speed_xy: 0.5
max_speed_theta: 1.0
# 加速度限制
max_accel_xy: 2.5
max_accel_theta: 3.5
# DWA 参数
min_velocity_xy: 0.0
min_speed_theta: 0.0
# 评分函数权重
wx: 1.0
wt: 1.0
wc: 1.0
wv: 0.5
ws: 0.05
Planner 配置
# config/nav2_planner.yaml
planner_server:
ros__parameters:
planner_plugin: 'nav2_smac_planner/SmacPlanner2D'
smac_planner:
tolerance: 0.25
downsample_costmap: 2
allow_unknown: true
max_iterations: 1000000
max_on_approaches_cost: 0.5
terminal_binding_padding: 0.65
Lifecycle launch
# launch/nav2.launch.py
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import TimerAction
def generate_launch_description():
# 等待时钟
clock_node = TimerAction(
period=2.0,
actions=[
Node(
package='nav2_controller',
executable='controller_server',
parameters=['config/controller.yaml'],
output='screen'
),
Node(
package='nav2_planner',
executable='planner_server',
parameters=['config/planner.yaml'],
output='screen'
),
Node(
package='nav2_recoveries',
executable='recoveries_server',
parameters=['config/recoveries.yaml'],
output='screen'
),
Node(
package='nav2_bt_navigator',
executable='bt_navigator',
parameters=['config/bt_navigator.yaml'],
output='screen'
),
]
)
return LaunchDescription([clock_node])
AMCL 配置
# config/amcl.yaml
amcl:
ros__parameters:
use_sim_time: True
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
laser_model_type: likelihood_field_prob
laser_z_max: 0.5
laser_z_hit: 0.5
laser_z_rand: 0.5
min_particles: 500
max_particles: 2000
recovery_alpha_slow: 0.0
recovery_alpha_fast: 0.0