Hi,
Has anyone used zedx camera outputs to integrate in Nav2 for generating costmaps? Any leads or guidance is much appreciated.
I am going through the docs provided in their official site for STVL layers, but i havent had much success.
(STVL) Using an External Costmap Plugin — Nav2 1.0.0 documentation
Hi @Anirudhgudi
Welcome to the Stereolabs community.
You can use the ZED X camera like any other RGBD sensor.
Have you already played with the ZED ROS2 Wrapper to use the camera with ROS 2?
How did you configure Nav2? Can you share your config file?
Hi,
Yes, i have already checked out the ZED wrapper and trying to use the topics published through the sdk.
this is the config file of nav2 :
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_footprint"
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: 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
scan_topic: scan
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
wait_for_service_timeout: 1000
# '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
- nav2_is_battery_charging_condition_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
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
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: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
enabled: true
voxel_decay: 1.0 # seconds if linear, e^n if exponential
decay_model: 0 # 0=linear, 1=exponential, -1=persistent
voxel_size: 0.1 # meters
track_unknown_space: true # default space is known
unknown_threshold: 15 # voxel height
mark_threshold: 0 # voxel height
update_footprint_enabled: true
combination_method: 1 # 1=max, 0=override
origin_z: 0.0 # meters
publish_voxel_map: true # default off
transform_tolerance: 0.3 # seconds
mapping_mode: false # default off, saves map not for navigation
map_save_duration: 60.0 # default 60s, how often to autosave
observation_sources: rgbd1_mark rgbd1_clear
rgbd1_mark:
data_type: PointCloud2
topic: /zed/zed_node/point_cloud/cloud_registered
marking: true
clearing: false
obstacle_range: 3.0 # meters
min_obstacle_height: 0.02 # default 0, meters
max_obstacle_height: 1.5 # default 3, meters
expected_update_rate: 0.0 # default 0,
observation_persistence: 0.0 # default 0,
inf_is_valid: true # default false, for laser scans
filter: "passthrough" # default passthrough, a
voxel_min_points: 0 # default 0, minimum points per voxel for voxel filter
clear_after_reading: true # default false,
rgbd1_clear:
data_type: PointCloud2
topic: /zed/zed_node/point_cloud/cloud_registered
marking: false
clearing: true
max_z: 7.0 # default 0, meters
min_z: 0.1 # default 10, meters
vertical_fov_angle: 1.0337 # default 0.7, radians
horizontal_fov_angle: 1.575 # default 1.04, radians
decay_acceleration: 5.0 # default 0, 1/s^2. If laser scanner MUST be 0
model_type: 0 # default 0, model type for frustum.
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
always_send_full_costmap: 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: ["voxel_layer", "static_layer", "inflation_layer"]
voxel_layer:
plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
enabled: true
voxel_decay: 1.0 # seconds if linear, e^n if exponential
decay_model: 0 # 0=linear, 1=exponential, -1=persistent
voxel_size: 0.1 # meters
track_unknown_space: true # default space is known
unknown_threshold: 15 # voxel height
mark_threshold: 0 # voxel height
update_footprint_enabled: true
combination_method: 1 # 1=max, 0=override
origin_z: 0.0 # meters
publish_voxel_map: true # default off
transform_tolerance: 0.3 # seconds
mapping_mode: false # default off, saves map not for navigation
map_save_duration: 60.0 # default 60s, how often to autosave
observation_sources: rgbd1_mark rgbd1_clear
rgbd1_mark:
data_type: PointCloud2
topic: /zed/zed_node/point_cloud/cloud_registered
marking: true
clearing: false
obstacle_range: 3.0 # meters
min_obstacle_height: 0.02 # default 0, meters
max_obstacle_height: 1.5 # default 3, meters
expected_update_rate: 0.0 # default 0,
observation_persistence: 0.0 # default 0,
inf_is_valid: true # default false, for laser scans
filter: "passthrough" # default passthrough, a
voxel_min_points: 0 # default 0, minimum points per voxel for voxel filter
clear_after_reading: true # default false,
rgbd1_clear:
data_type: PointCloud2
topic: /zed/zed_node/point_cloud/cloud_registered
marking: false
clearing: true
max_z: 7.0 # default 0, meters
min_z: 0.1 # default 10, meters
vertical_fov_angle: 1.0337 # default 0.7, radians
horizontal_fov_angle: 1.575 # default 1.04, radians
decay_acceleration: 5.0 # default 0, 1/s^2. If laser scanner MUST be 0
model_type: 0 # default 0, model type for frustum.
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
map_server:
ros__parameters:
use_sim_time: True
# Overridden in launch by the "map" launch configuration or provided default value.
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
yaml_filename: ""
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
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", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors/Spin"
backup:
plugin: "nav2_behaviors/BackUp"
drive_on_heading:
plugin: "nav2_behaviors/DriveOnHeading"
wait:
plugin: "nav2_behaviors/Wait"
assisted_teleop:
plugin: "nav2_behaviors/AssistedTeleop"
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:
use_sim_time: True
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
velocity_smoother:
ros__parameters:
use_sim_time: True
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.26, 0.0, 1.0]
min_velocity: [-0.26, 0.0, -1.0]
max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2]
odom_topic: "odom"
odom_duration: 0.1
deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
Hi @Anirudhgudi
STVL seems to be correctly configured.
Can you share your TF tree when all the nodes are running?
I see some base_footprint that seems not correct.
Are you using the ZED ROS2 Wrapper odometry or are you fusing odometry in ROS 2 as explained here?
Hi @Myzhar ,
I am currently generating odom through action graph in isaac sim. Yet to integrate zed wrapper odom with Nav2.
And this is the tf tree generated when all the nodes are running. I can already see one problem; with zed_camera_link linked to odom instead of base_link. Please analyse and give me your feedback
The TF tree is not coherent and I’m not sure the ROS 2 Wrapper is working correctly.
Can you please send me the full log of the ZED Node?
This guide can help you configure the system.
I have not integrated the zed camera in urdf yet. i just imported the zedx inside isaac sim and trying it out. I am launching zed node along with the nav2 through a launch file. i am also creating a static transform between odom and zed_camera_link in that launch file. the zed wrapper node seems to be starting okay. here’s the log .
[zed_wrapper-5] [2024-12-30 16:32:02 UTC][ZED][INFO] [Init] Depth mode: NEURAL PLUS
[zed_wrapper-5] [2024-12-30 16:32:02 UTC][ZED][INFO] [Init] Serial Number: S/N 40976320
[zed_wrapper-5] [2024-12-30 16:32:02 UTC][ZED][WARNING] Simulated ZED camera used.
[zed_wrapper-5] [2024-12-30 16:32:02 UTC][ZED][WARNING] [Init] Invalid calibration file. On Linux, call export LC_ALL="C" and restart your application.
[zed_wrapper-5] [2024-12-30 16:32:02 UTC][ZED][WARNING] Self Calibration Disabled.
[zed_wrapper-5] [2024-12-30 16:32:03 UTC][ZED][WARNING] [Init] Requested depth_minimum_distance: 0.3METER is too close, clamped to 0.4METER.
[component_container_isolated-2] [INFO] [1735576323.188254146] [controller_server]: Creating bond (controller_server) to lifecycle manager.
[component_container_isolated-2] [INFO] [1735576323.289954414] [lifecycle_manager_navigation]: Server controller_server connected with bond.
[component_container_isolated-2] [INFO] [1735576323.290014010] [lifecycle_manager_navigation]: Activating smoother_server
[component_container_isolated-2] [INFO] [1735576323.290145844] [smoother_server]: Activating
[component_container_isolated-2] [INFO] [1735576323.290189616] [smoother_server]: Creating bond (smoother_server) to lifecycle manager.
[component_container_isolated-2] [INFO] [1735576323.392060491] [lifecycle_manager_navigation]: Server smoother_server connected with bond.
[component_container_isolated-2] [INFO] [1735576323.392112407] [lifecycle_manager_navigation]: Activating planner_server
[component_container_isolated-2] [INFO] [1735576323.392262657] [planner_server]: Activating
[component_container_isolated-2] [INFO] [1735576323.392302357] [global_costmap.global_costmap]: Activating
[component_container_isolated-2] [INFO] [1735576323.392311518] [global_costmap.global_costmap]: Checking transform
[component_container_isolated-2] [INFO] [1735576323.392319940] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[zed_wrapper-5] [WARN] [1735576323.646080327] [zed.zed_node]: !!! `general.grab_frame_rate` value is not valid: '60'. Automatically replaced with '30'. Please fix the parameter !!!
[zed_wrapper-5] [INFO] [1735576323.646149028] [zed.zed_node]: ZED SDK running on GPU #0
[zed_wrapper-5] [INFO] [1735576323.646160820] [zed.zed_node]: * Camera Model -> ZED X
[zed_wrapper-5] [INFO] [1735576323.646172555] [zed.zed_node]: * Serial Number -> 40976320
[zed_wrapper-5] [INFO] [1735576323.646179833] [zed.zed_node]: * Focal Lenght -> 4.4496 mm
[zed_wrapper-5] [INFO] [1735576323.646191067] [zed.zed_node]: * Input -> STREAM
[zed_wrapper-5] [INFO] [1735576323.646199560] [zed.zed_node]: * Camera FW Version -> 1523
[zed_wrapper-5] [INFO] [1735576323.646206341] [zed.zed_node]: * Sensors FW Version -> 0
[zed_wrapper-5] [INFO] [1735576323.646214106] [zed.zed_node]: * Camera grab frame size -> 1280x720
[zed_wrapper-5] [INFO] [1735576323.646223390] [zed.zed_node]: * Publishing frame size -> 640x360
[zed_wrapper-5] [INFO] [1735576323.646239894] [zed.zed_node]: *** TF FRAMES ***
[zed_wrapper-5] [INFO] [1735576323.646247354] [zed.zed_node]: * Map -> map
[zed_wrapper-5] [INFO] [1735576323.646253649] [zed.zed_node]: * Odometry -> odom
[zed_wrapper-5] [INFO] [1735576323.646262695] [zed.zed_node]: * Base -> zed_camera_link
[zed_wrapper-5] [INFO] [1735576323.646268758] [zed.zed_node]: * Camera -> zed_camera_center
[zed_wrapper-5] [INFO] [1735576323.646275890] [zed.zed_node]: * Left -> zed_left_camera_frame
[zed_wrapper-5] [INFO] [1735576323.646281715] [zed.zed_node]: * Left Optical -> zed_left_camera_optical_frame
[zed_wrapper-5] [INFO] [1735576323.646287940] [zed.zed_node]: * RGB -> zed_left_camera_frame
[zed_wrapper-5] [INFO] [1735576323.646293808] [zed.zed_node]: * RGB Optical -> zed_left_camera_optical_frame
[zed_wrapper-5] [INFO] [1735576323.646299561] [zed.zed_node]: * Right -> zed_right_camera_frame
[zed_wrapper-5] [INFO] [1735576323.646305403] [zed.zed_node]: * Right Optical -> zed_right_camera_optical_frame
[zed_wrapper-5] [INFO] [1735576323.646311348] [zed.zed_node]: * Depth -> zed_left_camera_frame
[zed_wrapper-5] [INFO] [1735576323.646319740] [zed.zed_node]: * Depth Optical -> zed_left_camera_optical_frame
[zed_wrapper-5] [INFO] [1735576323.646325786] [zed.zed_node]: * Point Cloud -> zed_left_camera_optical_frame
[zed_wrapper-5] [INFO] [1735576323.646331656] [zed.zed_node]: * Disparity -> zed_left_camera_frame
[zed_wrapper-5] [INFO] [1735576323.646337379] [zed.zed_node]: * Disparity Optical -> zed_left_camera_optical_frame
[zed_wrapper-5] [INFO] [1735576323.646345732] [zed.zed_node]: * Confidence -> zed_left_camera_frame
[zed_wrapper-5] [INFO] [1735576323.646353886] [zed.zed_node]: * Confidence Optical -> zed_left_camera_optical_frame
[zed_wrapper-5] [INFO] [1735576323.646361475] [zed.zed_node]: * IMU -> zed_imu_link
[zed_wrapper-5] [INFO] [1735576323.646387046] [zed.zed_node]: *** PUBLISHED TOPICS ***
[zed_wrapper-5] [INFO] [1735576323.768961832] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.768989712] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.776257371] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/image_rect_color
[zed_wrapper-5] [INFO] [1735576323.776327546] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb/camera_info
[zed_wrapper-5] [INFO] [1735576323.778360827] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.778374324] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.780137790] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/image_rect_gray
[zed_wrapper-5] [INFO] [1735576323.780160987] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_gray/camera_info
[zed_wrapper-5] [INFO] [1735576323.782829268] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.782847362] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.784421611] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/image_raw_color
[zed_wrapper-5] [INFO] [1735576323.784445106] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw/camera_info
[zed_wrapper-5] [INFO] [1735576323.785476822] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.785490000] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.788393580] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/image_raw_gray
[zed_wrapper-5] [INFO] [1735576323.790984097] [zed.zed_node]: Advertised on topic: /zed/zed_node/rgb_raw_gray/camera_info
[zed_wrapper-5] [INFO] [1735576323.793799135] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.793820614] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.795485906] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/image_rect_color
[zed_wrapper-5] [INFO] [1735576323.795512198] [zed.zed_node]: Advertised on topic: /zed/zed_node/left/camera_info
[zed_wrapper-5] [INFO] [1735576323.796066641] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.796076376] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.798501223] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/image_rect_gray
[zed_wrapper-5] [INFO] [1735576323.798524669] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_gray/camera_info
[zed_wrapper-5] [INFO] [1735576323.799869314] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.799886739] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.800396524] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/image_raw_color
[zed_wrapper-5] [INFO] [1735576323.800412102] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw/camera_info
[zed_wrapper-5] [INFO] [1735576323.800959237] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.800967654] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.801418731] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/image_raw_gray
[zed_wrapper-5] [INFO] [1735576323.801431144] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_raw_gray/camera_info
[zed_wrapper-5] [INFO] [1735576323.801953708] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.801961231] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.802406732] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/image_rect_color
[zed_wrapper-5] [INFO] [1735576323.802418433] [zed.zed_node]: Advertised on topic: /zed/zed_node/right/camera_info
[zed_wrapper-5] [INFO] [1735576323.805253697] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.805579642] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.807019781] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/image_rect_gray
[zed_wrapper-5] [INFO] [1735576323.807055002] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_gray/camera_info
[zed_wrapper-5] [INFO] [1735576323.807995886] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.808018844] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.808824677] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/image_raw_color
[zed_wrapper-5] [INFO] [1735576323.808853686] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw/camera_info
[zed_wrapper-5] [INFO] [1735576323.809606338] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.809628540] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.810682660] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/image_raw_gray
[zed_wrapper-5] [INFO] [1735576323.810711831] [zed.zed_node]: Advertised on topic: /zed/zed_node/right_raw_gray/camera_info
[zed_wrapper-5] [INFO] [1735576323.811552401] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.811567385] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.812287179] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_registered
[zed_wrapper-5] [INFO] [1735576323.812309009] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/camera_info
[zed_wrapper-5] [INFO] [1735576323.812707007] [zed.zed_node]: Advertised on topic: /zed/zed_node/depth/depth_info
[zed_wrapper-5] [INFO] [1735576323.813428185] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.813441869] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.813993264] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo/image_rect_color
[zed_wrapper-5] [INFO] [1735576323.814722035] [FFMPEGEncoder]: enc: libx264 prof: preset:
[zed_wrapper-5] [INFO] [1735576323.814770137] [FFMPEGEncoder]: qmax: 0 bitrate: 4194304 gop: 10
[zed_wrapper-5] [INFO] [1735576323.815276237] [zed.zed_node]: Advertised on topic: /zed/zed_node/stereo_raw/image_raw_color
[zed_wrapper-5] [INFO] [1735576323.815454415] [zed.zed_node]: Advertised on topic: /zed/zed_node/confidence/confidence_map
[zed_wrapper-5] [INFO] [1735576323.816199417] [zed.zed_node]: Advertised on topic: /zed/zed_node/disparity/disparity_image
[zed_wrapper-5] [INFO] [1735576323.826216807] [zed.zed_node]: Advertised on topic: /zed/zed_node/point_cloud/cloud_registered
[zed_wrapper-5] [INFO] [1735576323.826712063] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose
[zed_wrapper-5] [INFO] [1735576323.827099708] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose/status
[zed_wrapper-5] [INFO] [1735576323.827499212] [zed.zed_node]: Advertised on topic: /zed/zed_node/pose_with_covariance
[zed_wrapper-5] [INFO] [1735576323.828326712] [zed.zed_node]: Advertised on topic: /zed/zed_node/odom
[zed_wrapper-5] [INFO] [1735576323.828796565] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_map
[zed_wrapper-5] [INFO] [1735576323.829232472] [zed.zed_node]: Advertised on topic: /zed/zed_node/path_odom
[zed_wrapper-5] [INFO] [1735576323.831924699] [zed.zed_node]: Advertised on topic /zed/zed_node/mapping/fused_cloud @ 1 Hz
[zed_wrapper-5] [INFO] [1735576323.832610219] [zed.zed_node]: Advertised on topic: /zed/plane_marker
[zed_wrapper-5] [INFO] [1735576323.833127769] [zed.zed_node]: Advertised on topic: /zed/plane
[zed_wrapper-5] [INFO] [1735576323.833604716] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data
[zed_wrapper-5] [INFO] [1735576323.834025447] [zed.zed_node]: Advertised on topic: /zed/zed_node/imu/data_raw
[zed_wrapper-5] [INFO] [1735576323.834369414] [zed.zed_node]: Advertised on topic: /zed/zed_node/temperature/imu
[zed_wrapper-5] [INFO] [1735576323.834706919] [zed.zed_node]: Advertised on topic: /zed/zed_node/left_cam_imu_transform
[zed_wrapper-5] [INFO] [1735576323.834733774] [zed.zed_node]: Camera-IMU Translation:
[zed_wrapper-5] 0 0 0
[zed_wrapper-5] [INFO] [1735576323.834757475] [zed.zed_node]: Camera-IMU Rotation:
[zed_wrapper-5] 77B0629FA030
[zed_wrapper-5] 1.000000 0.000000 0.000000
[zed_wrapper-5] 0.000000 1.000000 0.000000
[zed_wrapper-5] 0.000000 0.000000 1.000000
[zed_wrapper-5]
[zed_wrapper-5] [INFO] [1735576323.834766331] [zed.zed_node]: *** Subscribers ***
[zed_wrapper-5] [INFO] [1735576323.835151527] [zed.zed_node]: * Plane detection: '/clicked_point'
[zed_wrapper-5] [INFO] [1735576323.835422201] [zed.zed_node]: * Sim Clock: '/clock'
[zed_wrapper-5] [WARN] [1735576323.835537153] [zed.zed_node]: Waiting for a valid simulation time on the '/clock' topic...
[zed_wrapper-5] [INFO] [1735576323.851784191] [zed.zed_node]: *** Starting Positional Tracking ***
[zed_wrapper-5] [INFO] [1735576323.851814295] [zed.zed_node]: * Waiting for valid static transformations...
[zed_wrapper-5] [INFO] [1735576323.851877040] [zed.zed_node]: Static transform ref. CMOS Sensor to Base [zed_left_camera_frame -> zed_camera_link]
[zed_wrapper-5] [INFO] [1735576323.851885082] [zed.zed_node]: * Translation: {0.010,-0.060,-0.016}
[zed_wrapper-5] [INFO] [1735576323.851892096] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-5] [INFO] [1735576323.851903356] [zed.zed_node]: Static transform ref. CMOS Sensor to Camera Center [zed_left_camera_frame -> zed_camera_center]
[zed_wrapper-5] [INFO] [1735576323.851908602] [zed.zed_node]: * Translation: {0.010,-0.060,0.000}
[zed_wrapper-5] [INFO] [1735576323.851913863] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-5] [INFO] [1735576323.851924448] [zed.zed_node]: Static transform Camera Center to Base [zed_camera_center -> zed_camera_link]
[zed_wrapper-5] [INFO] [1735576323.851929426] [zed.zed_node]: * Translation: {0.000,0.000,-0.016}
[zed_wrapper-5] [INFO] [1735576323.851934906] [zed.zed_node]: * Rotation: {0.000,-0.000,0.000}
[zed_wrapper-5] [INFO] [1735576323.853007544] [zed.zed_node]: Initial ZED left camera pose (ZED pos. tracking):
[zed_wrapper-5] [INFO] [1735576323.853031170] [zed.zed_node]: * T: [-0.01,0.06,0.016]
[zed_wrapper-5] [INFO] [1735576323.853044289] [zed.zed_node]: * Q: [0,0,0,1]
If the TF tree is not coherent, the ZED ROS 2 Wrapper does not work correctly because it waits for the correct TF frames to be published by external nodes.
According to the log, this is not your case because the Positional Tracking module is correctly initialized.
This correct parameter configuration did the trick:
[zed_wrapper-5] [INFO] [1735576323.646262695] [zed.zed_node]: * Base -> zed_camera_link
Please check the Nav2 log. Normally the problem is hidden behind its warnings.
Thank you. I will look into the nav2 logs.
Other than this, the nav2 param file looks ok? and do i need to do any modifications that are generally not mentioned in the documentation?
i have followed these steps:
(STVL) Using an External Costmap Plugin — Nav2 1.0.0 documentation
Af first sight, they all seem correct.
You can check that Nav2 correctly subscribes the point cloud topic to exclude QoS incompatibilities by using this command:
ros2 topic info /zed/zed_node/point_cloud/cloud_registered -v
Hi @Myzhar . I was able to visualise the stvl, i had to make minute changes to the robot frame ID and refer to the nav2 param file.
Thank you for the support.
But still the robot doesnt make decisions based on the voxel layer because bt server refers to costmap/raw topic . if i change it to costmap/voxel_grid, it doesnt accept that topic. Any suggestions to that?
Are the Global and Local cost maps generated correctly?
What (Local) Controller and (Global) Planner are you using?
Can you share the full “fixed” Nav2 configuration file?
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: 360
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: 3
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
scan_topic: scan
map_topic: map
set_initial_pose: true
always_reset_initial_pose: false
first_map_only: false
initial_pose:
x: -6.0
y: -1.0
z: 0.0
yaw: 3.14159
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: /chassis/odom
bt_loop_duration: 20
default_server_timeout: 40
# '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
velocity_smoother:
ros__parameters:
smoothing_frequency: 20.0
scale_velocities: false
feedback: "OPEN_LOOP"
max_velocity: [4.8, 0.0, 2.2]
min_velocity: [-4.8, 0.0, -2.2]
# deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
# max_accel: [1.0, 0.0, 1.25]
# max_decel: [-1.0, 0.0, -1.25]
odom_topic: "chassis/odom"
odom_duration: 0.1
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_plugin: ["stopped_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
stopped_goal_checker:
plugin: "nav2_controller::StoppedGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
stateful: True
# DWB parameters
FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True
min_vel_x: 0.0
min_vel_y: 0.0
max_vel_x: 1.8
max_vel_y: 0.0
max_vel_theta: 2.2
min_speed_xy: 0.0
max_speed_xy: 4.8
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: 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: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
enabled: true
voxel_decay: 1.0 # seconds if linear, e^n if exponential
decay_model: 0 # 0=linear, 1=exponential, -1=persistent
voxel_size: 0.1 # meters
track_unknown_space: true # default space is known
unknown_threshold: 15 # voxel height
mark_threshold: 0 # voxel height
update_footprint_enabled: true
combination_method: 1 # 1=max, 0=override
origin_z: 0.0 # meters
publish_voxel_map: true # default off
transform_tolerance: 0.3 # seconds
mapping_mode: false # default off, saves map not for navigation
map_save_duration: 60.0 # default 60s, how often to autosave
observation_sources: rgbd1_mark rgbd1_clear
rgbd1_mark:
data_type: PointCloud2
topic: /zed/zed_node/point_cloud/cloud_registered
marking: true
clearing: false
obstacle_range: 3.0 # meters
min_obstacle_height: 0.02 # default 0, meters
max_obstacle_height: 1.5 # default 3, meters
expected_update_rate: 0.0 # default 0,
observation_persistence: 0.0 # default 0,
inf_is_valid: true # default false, for laser scans
filter: "passthrough" # default passthrough, a
voxel_min_points: 0 # default 0, minimum points per voxel for voxel filter
clear_after_reading: true # default false,
rgbd1_clear:
data_type: PointCloud2
topic: /zed/zed_node/point_cloud/cloud_registered
marking: false
clearing: true
max_z: 7.0 # default 0, meters
min_z: 0.1 # default 10, meters
vertical_fov_angle: 1.0337 # default 0.7, radians
horizontal_fov_angle: 1.575 # default 1.04, radians
decay_acceleration: 5.0 # default 0, 1/s^2. If laser scanner MUST be 0
model_type: 0 # default 0, model type for frustum.
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
always_send_full_costmap: 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: ["voxel_layer", "static_layer", "inflation_layer"]
voxel_layer:
plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
enabled: true
voxel_decay: 1.0 # seconds if linear, e^n if exponential
decay_model: 0 # 0=linear, 1=exponential, -1=persistent
voxel_size: 0.1 # meters
track_unknown_space: true # default space is known
unknown_threshold: 15 # voxel height
mark_threshold: 0 # voxel height
update_footprint_enabled: true
combination_method: 1 # 1=max, 0=override
origin_z: 0.0 # meters
publish_voxel_map: true # default off
transform_tolerance: 0.3 # seconds
mapping_mode: false # default off, saves map not for navigation
map_save_duration: 60.0 # default 60s, how often to autosave
observation_sources: rgbd1_mark rgbd1_clear
rgbd1_mark:
data_type: PointCloud2
topic: /zed/zed_node/point_cloud/cloud_registered
marking: true
clearing: false
obstacle_range: 3.0 # meters
min_obstacle_height: 0.02 # default 0, meters
max_obstacle_height: 1.5 # default 3, meters
expected_update_rate: 0.0 # default 0,
observation_persistence: 0.0 # default 0,
inf_is_valid: true # default false, for laser scans
filter: "passthrough" # default passthrough, a
voxel_min_points: 0 # default 0, minimum points per voxel for voxel filter
clear_after_reading: true # default false,
rgbd1_clear:
data_type: PointCloud2
topic: /zed/zed_node/point_cloud/cloud_registered
marking: false
clearing: true
max_z: 7.0 # default 0, meters
min_z: 0.1 # default 10, meters
vertical_fov_angle: 1.0337 # default 0.7, radians
horizontal_fov_angle: 1.575 # default 1.04, radians
decay_acceleration: 5.0 # default 0, 1/s^2. If laser scanner MUST be 0
model_type: 0 # default 0, model type for frustum.
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
map_server:
ros__parameters:
use_sim_time: True
yaml_filename: "carter_warehouse_navigation.yaml"
map_saver:
ros__parameters:
use_sim_time: True
save_map_timeout: 5000
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 10.0
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/raw
footprint_topic: local_costmap/published_footprint
cycle_frequency: 5.0
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: 0.2
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:
use_sim_time: True
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
@Myzhar Hi,
I have another question. The 3d map (fused cloud) created by zed sdk is fairly similar to stvl voxels. Can the zed fused cloud be used as substitute to stvl in created costmaps? if so, is there an example of this being done before?
Hi @Anirudhgudi
No, we do not provide this feature.