Update params and rviz

Signed-off-by: mini-1235 <[email protected]>

Author: mini-1235

nav2_bringup/params/nav2_params.yaml

@@ -96,6 +96,7 @@ controller_server:
     progress_checker_plugins: ["progress_checker"]
     goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
     controller_plugins: ["FollowPath"]
+    path_handler_plugins: ["path_handler"]
     use_realtime_priority: false
     speed_limit_topic: "speed_limit"
 
@@ -115,6 +116,14 @@ controller_server:
       plugin: "nav2_controller::SimpleGoalChecker"
       xy_goal_tolerance: 0.25
       yaw_goal_tolerance: 0.25
+      path_length_tolerance: 1.0
+    path_handler:
+      plugin: "nav2_controller::SimplePathHandler"
+      prune_distance: 2.0
+      enforce_path_inversion: False
+      inversion_xy_tolerance: 0.2
+      inversion_yaw_tolerance: 0.4
+      interpolate_curvature_after_goal: False
     FollowPath:
       plugin: "nav2_mppi_controller::MPPIController"
       time_steps: 56
@@ -133,8 +142,6 @@ controller_server:
       vy_max: 0.5
       wz_max: 1.9
       iteration_count: 1
-      prune_distance: 1.7
-      transform_tolerance: 0.1
       temperature: 0.3
       gamma: 0.015
       motion_model: "DiffDrive"

nav2_bringup/rviz/nav2_default_view.rviz

@@ -403,8 +403,8 @@ Visualization Manager:
           Class: rviz_default_plugins/Path
           Color: 0; 12; 255
           Enabled: true
-          Head Diameter: 0.30000001192092896
-          Head Length: 0.20000000298023224
+          Head Diameter: 0.019999999552965164
+          Head Length: 0.019999999552965164
           Length: 0.30000001192092896
           Line Style: Lines
           Line Width: 0.029999999329447746
@@ -413,18 +413,18 @@ Visualization Manager:
             X: 0
             Y: 0
             Z: 0
-          Pose Color: 255; 85; 255
-          Pose Style: None
+          Pose Color: 0; 0; 255
+          Pose Style: Arrows
           Radius: 0.029999999329447746
-          Shaft Diameter: 0.10000000149011612
-          Shaft Length: 0.10000000149011612
+          Shaft Diameter: 0.004999999888241291
+          Shaft Length: 0.019999999552965164
           Topic:
             Depth: 5
             Durability Policy: Volatile
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: local_plan
+            Value: transformed_global_plan
           Value: true
         - Class: rviz_default_plugins/MarkerArray
           Enabled: false

nav2_system_tests/src/costmap_filters/keepout_params.yaml

@@ -73,9 +73,15 @@ controller_server:
       plugin: "nav2_controller::SimpleGoalChecker"
       xy_goal_tolerance: 0.25
       yaw_goal_tolerance: 0.25
+      path_length_tolerance: 1.0
       stateful: True
     path_handler:
       plugin: "nav2_controller::SimplePathHandler"
+      prune_distance: 2.0
+      enforce_path_inversion: False
+      inversion_xy_tolerance: 0.2
+      inversion_yaw_tolerance: 0.4
+      interpolate_curvature_after_goal: False
     # DWB parameters
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"

nav2_system_tests/src/costmap_filters/speed_global_params.yaml

@@ -74,9 +74,15 @@ controller_server:
       plugin: "nav2_controller::SimpleGoalChecker"
       xy_goal_tolerance: 0.25
       yaw_goal_tolerance: 0.25
+      path_length_tolerance: 1.0
       stateful: True
     path_handler:
       plugin: "nav2_controller::SimplePathHandler"
+      prune_distance: 2.0
+      enforce_path_inversion: False
+      inversion_xy_tolerance: 0.2
+      inversion_yaw_tolerance: 0.4
+      interpolate_curvature_after_goal: False
     # DWB parameters
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"

nav2_system_tests/src/costmap_filters/speed_local_params.yaml

@@ -74,9 +74,15 @@ controller_server:
       plugin: "nav2_controller::SimpleGoalChecker"
       xy_goal_tolerance: 0.25
       yaw_goal_tolerance: 0.25
+      path_length_tolerance: 1.0
       stateful: True
     path_handler:
       plugin: "nav2_controller::SimplePathHandler"
+      prune_distance: 2.0
+      enforce_path_inversion: False
+      inversion_xy_tolerance: 0.2
+      inversion_yaw_tolerance: 0.4
+      interpolate_curvature_after_goal: False
     # DWB parameters
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"

nav2_system_tests/src/error_codes/error_code_param.yaml

@@ -39,8 +39,14 @@ controller_server:
       plugin: "nav2_controller::SimpleGoalChecker"
       xy_goal_tolerance: 0.25
       yaw_goal_tolerance: 0.25
+      path_length_tolerance: 1.0
     path_handler:
       plugin: "nav2_controller::SimplePathHandler"
+      prune_distance: 2.0
+      enforce_path_inversion: False
+      inversion_xy_tolerance: 0.2
+      inversion_yaw_tolerance: 0.4
+      interpolate_curvature_after_goal: False
     # DWB parameters
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"

nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml

@@ -53,8 +53,14 @@ controller_server:
       plugin: "nav2_controller::SimpleGoalChecker"
       xy_goal_tolerance: 0.25
       yaw_goal_tolerance: 0.25
+      path_length_tolerance: 1.0
     path_handler:
       plugin: "nav2_controller::SimplePathHandler"
+      prune_distance: 2.0
+      enforce_path_inversion: False
+      inversion_xy_tolerance: 0.2
+      inversion_yaw_tolerance: 0.4
+      interpolate_curvature_after_goal: False
     # MPPI parameters
     FollowPath:
       plugin: "nav2_mppi_controller::MPPIController"

nav2_system_tests/src/system/nav2_system_params.yaml

@@ -97,8 +97,14 @@ controller_server:
       plugin: "nav2_controller::SimpleGoalChecker"
       xy_goal_tolerance: 0.25
       yaw_goal_tolerance: 0.25
+      path_length_tolerance: 1.0
     path_handler:
       plugin: "nav2_controller::SimplePathHandler"
+      prune_distance: 2.0
+      enforce_path_inversion: False
+      inversion_xy_tolerance: 0.2
+      inversion_yaw_tolerance: 0.4
+      interpolate_curvature_after_goal: False
     # DWB parameters
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"