controller_frequency: |
|
- Description
Frequency to run controller (Hz).
|
controller_plugins: |
|
Type |
Default |
vector<string> |
[‘FollowPath’] |
- Description
List of mapped names for controller plugins for processing requests and parameters.
- Note
Each plugin namespace defined in this list needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.
Example:
controller_server:
ros__parameters:
controller_plugins: ["FollowPath"]
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
|
progress_checker_plugin: |
|
Type |
Default |
string |
‘progress_checker’ |
- Description
Mapped name for progress checker plugin for checking progress made by robot.
- Note
The plugin namespace defined needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.
Example:
controller_server:
ros__parameters:
progress_checker_plugin: "progress_checker"
progress_checker:
plugin: "nav2_controller::SimpleProgressChecker"
|
goal_checker_plugin: |
|
Type |
Default |
string |
‘goal_checker’ |
- Description
Mapped name for goal checker plugin for checking goal is reached.
- Note
The plugin namespace defined needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.
Example:
controller_server:
ros__parameters:
goal_checker_plugin: "goal_checker"
goal_checker:
plugin: "nav2_controller::SimpleGoalChecker"
|
min_x_velocity_threshold: |
|
Type |
Default |
double |
0.0001 |
- Description
The controller server filters the velocity portion of the odometry messages received before sending them to the controller plugin.
Odometry values below this threshold (in m/s) will be set to 0.0.
|
min_y_velocity_threshold: |
|
Type |
Default |
double |
0.0001 |
- Description
The controller server filters the velocity portion of the odometry messages received before sending them to the controller plugin.
Odometry values below this threshold (in m/s) will be set to 0.0. For non-holonomic robots
|
min_theta_velocity_threshold: |
|
Type |
Default |
double |
0.0001 |
- Description
The controller server filters the velocity portion of the odometry messages received before sending them to the controller plugin.
Odometry values below this threshold (in rad/s) will be set to 0.0.
|
speed_limit_topic: |
|
Type |
Default |
string |
“speed_limit” |
- Description
Speed limiting topic name to subscribe. This could be published by Speed Filter (please refer to Speed Filter Parameters configuration page). You can also use this without the Speed Filter as well if you provide an external server to publish these messages.
|