【Nav2中文网】七、配置指南（十一） DWB控制器

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DWB控制器 [待校准@2679]

Github 上的源代码 [校准@小鱼]

DWB控制器是默认控制器。它是为ROS 2修改的 David Lu's controller 叉。 [待校准@2680]

控制器（Controller）

• DWB控制器 [待校准@2679]
• XYTheta迭代器 [待校准@3073]
• 运动学参数 [待校准@3080]
• Publisher [待校准@3109]

插件 [待校准@2682]

下面列出的插件在 dwb_plugins 命名空间内。 [待校准@2683]

• LimitedAccelGenerator [待校准@3124]
• StandardTrajectoryGenerator [待校准@3128]

轨迹评论家 [待校准@2684]

下面列出的轨迹批评家在 dwb_critics 命名空间内。 [待校准@2685]

• BaseObstacleCritic [待校准@3263]
• GoalAlignCritic [待校准@3270]
• GoalDistCritic [待校准@3279]
• ObstacleFootprintCritic [待校准@3282]
• OscillationCritic [待校准@3285]
• PathAlignCritic [待校准@3297]
• PathDistCritic [待校准@3300]
• PreferForwardCritic [待校准@3302]
• RotateToGoalCritic [待校准@3313]
• TwirlingCritic [待校准@3322]

Example

controller_server:
  ros__parameters:
    # controller server parameters (see Controller Server for more info)
    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
    progress_checker_plugin: "progress_checker"
    goal_checker_plugin: "goal_checker"
    controller_plugins: ["FollowPath"]
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
      stateful: True
    # DWB controller 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
      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
      GoalAlign.scale: 24.0
      PathAlign.forward_point_distance: 0.1
      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

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