Nav2 the robot moving backward turns around at the target goal
Hello,
I am using navigation2 in ROS2 humble.
I want my robot to go to the target position behind it while facing the front.
It goes well to the target position moving backward, but when it reached the target position, it turns around.
Is there any way to make the robot still facing front after it reached the target position?
Below are my navigation parameters: \
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: 0.4
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: 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
set_initial_pose: True
initial_pose: {x: -6.0, y: -1.0, z: 0.0, yaw: 0.0}
# initial_pose: {x: 0.0, y: 0.0, z: 0.0, yaw: 0.0}
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
default_server_timeout: 60000
default_nav_to_pose_bt_xml: "/workspace/src/a1_robot/params/follow_point_bt.xml"
# '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_assisted_teleop_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_goal_updated_controller_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_assisted_teleop_cancel_bt_node
- nav2_drive_on_heading_cancel_bt_node
bt_navigator_navigate_through_poses_rclcpp_node:
ros__parameters:
use_sim_time: True
bt_navigator_navigate_to_pose_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
controller_plugins: ["FollowPath"]
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: 6000000.0
general_goal_checker:
stateful: True
plugin: "nav2_controller::SimpleGoalChecker"
# xy_goal_tolerance: 5.0
# yaw_goal_tolerance: 0.0
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: -0.5
min_vel_y: 0.0
max_vel_x: 0.5
max_vel_y: 0.0
max_vel_theta: 1.0
min_speed_xy: 0.0
max_speed_xy: 0.5
min_speed_theta: 0.0
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: 5.0
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 ...add a comment
