Configuration
If you are using a physical robot you must integrate the 2D lidar and IMU. This includes
ensuring robot.yaml
is configured as described below as well as ensuring the sensors are
mechanically mounted and have all necessary power/USB/ethernet cables connected.
Configuring robot.yaml
The robot configuration file robot.yaml
must be set up to include
a 2D laser scanner and an IMU by adding the sensors.lidar2d
and sensors.imu
fields. For this
example we will use a Husky A300 with the standard Phidgets IMU and a Hokuyo UST sensor.
The following is the sample robot.yaml
file used for this tutorial:
serial_number: a300-0000
version: 0
system:
hosts:
- hostname: a300-0000
ip: 127.0.0.1
ros2:
namespace: a300_0000
# workspaces:
# - /path/to/my/workspace/install/setup.bash
platform:
enable_ekf: true
controller: ps4
attachments:
- name: front_bumper
type: a300.bumper
parent: front_bumper_mount
- name: rear_bumper
type: a300.bumper
parent: rear_bumper_mount
- name: top_plate
type: a300.top_plate
sensors:
imu:
- model: phidgets_spatial
urdf_enabled: true
launch_enabled: true
parent: base_link
xyz: [0.059, 0.0, 0.161275]
rpy: [0.0, 0.0, 0.0]
ros_parameters:
phidgets_spatial:
data_interval_ms: 20
lidar2d:
- model: hokuyo_ust
parent: default_mount
Modifying Navigation Parameters
The clearpath_nav2_demos
package contains default configurations for all supported platforms:
- Husky A300 and A200;
- Jackal J100;
- Dingo DO100, DO150, DD100, and DD150;
- Ridgeback R100; and
- Warthog W200.
If you need to modify the
nav2
,slam
orlocalization
parameters you can use the configuration extras to override the default parameters included in theclearpath_nav2_demos
package. For example, if your robot has additional attachments that extend beyond the normal footprint of the robot you can resize the footprint:
platform:
extras:
ros_parameters:
local_costmap:
footprint: "[ [0.495, 0.349], [0.495, -0.349], [-0.600, -0.349], [-0.600, 0.349] ]"
global_costmap:
footprint: "[ [0.495, 0.349], [0.495, -0.349], [-0.600, -0.349], [-0.600, 0.349] ]"
In this example, the rear of the footprint has been extended from -0.495
to -0.600
, representing
some extension or attachment that extends out the back of the robot.
The default parameters should only be modified if necessary; if you do not have a specific need to change the defaults, we strongly advise not modifying them.