# GPS WPF CHANGES:
# - amcl params where removed. They are not needed because global localization is provided
#   by an ekf node on robot_localization fusing gps data with local odometry sources
# - static layer is removed from both costmaps, in this tutorial we assume there is no map
#   of the environment
# - global costmap is set to be rolling to allow the robot to traverse big environment by
#   following successive relatively close waypoints that fit in a smaller rolling costmap

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
    navigators: ["navigate_to_pose", "navigate_through_poses"]
    navigate_to_pose:
      plugin: "nav2_bt_navigator::NavigateToPoseNavigator"
    navigate_through_poses:
      plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator"
    # '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.
    default_nav_to_pose_bt_xml:  $(find-pkg-share NAME_OF_YOUR_PKG)/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
    default_nav_through_poses_bt_xml: $(find-pkg-share NAME_OF_YOUR_PKG)/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml

    # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
    # Built-in plugins are added automatically
    # plugin_lib_names: []

    error_code_name_prefixes:
      - compute_path
      - follow_path

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 30.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    failure_tolerance: 30.0
    progress_checker_plugins: ["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:
      FollowPath:
      plugin: "nav2_mppi_controller::MPPIController"
      time_steps: 42
      model_dt: 0.05
      batch_size: 2000
      vx_std: 0.2
      vy_std: 0.2
      wz_std: 0.4
      vx_max: 1.2
      vx_min: -0.35
      vy_max: 0.5
      wz_max: 3.5
      iteration_count: 1
      prune_distance: 3.0
      transform_tolerance: 0.2
      temperature: 0.3
      gamma: 0.01
      motion_model: "DiffDrive"
      visualize: false
      regenerate_noises: false
      TrajectoryVisualizer:
        trajectory_step: 5
        time_step: 3
      AckermannConstraints:
        min_turning_r: 0.2
      critics:
        [
          "ConstraintCritic",
          "CostCritic",
          "GoalCritic",
          "GoalAngleCritic",
          "PathAlignCritic",
          "PathFollowCritic",
          "PathAngleCritic",
          "PreferForwardCritic",
        ]
      ConstraintCritic:
        enabled: true
        cost_power: 1
        cost_weight: 4.0
      GoalCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        threshold_to_consider: 1.4
      GoalAngleCritic:
        enabled: true
        cost_power: 1
        cost_weight: 2.0
        threshold_to_consider: 0.5
      PreferForwardCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        threshold_to_consider: 0.5
      CostCritic:
        enabled: true
        cost_power: 1
        cost_weight: 3.81
        near_collision_cost: 253
        critical_cost: 300.0
        consider_footprint: false
        collision_cost: 1000000.0
        near_goal_distance: 1.0
        trajectory_point_step: 2
      PathAlignCritic:
        enabled: true
        cost_power: 1
        cost_weight: 15.0
        max_path_occupancy_ratio: 0.05
        trajectory_point_step: 4
        threshold_to_consider: 0.25
        offset_from_furthest: 2
        use_path_orientations: false
      PathFollowCritic:
        enabled: true
        cost_power: 1
        cost_weight: 5.0
        offset_from_furthest: 5
        threshold_to_consider: 1.4
      PathAngleCritic:
        enabled: true
        cost_power: 1
        cost_weight: 7.0
        offset_from_furthest: 4
        threshold_to_consider: 0.25
        max_angle_to_furthest: 1.0
        mode: 0
      # TwirlingCritic:
      #   enabled: true
      #   twirling_cost_power: 1
      #   twirling_cost_weight: 10.0

# GPS WPF CHANGE: Remove static layer
local_costmap:
  local_costmap:
    ros__parameters:
      use_sim_time: True
      update_frequency: 5.0
      publish_frequency: 5.0
      global_frame: map
      robot_base_frame: base_link
      rolling_window: true
      width: 10
      height: 10
      resolution: 0.1
      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: "nav2_costmap_2d::VoxelLayer"
        enabled: false
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: pointcloud
        pointcloud:
          topic: /cloud_map
          max_obstacle_height: 2.0
          min_obstacle_height: 0.0
          obstacle_range: 2.5
          raytrace_range: 3.0
          observation_persistence: 0.0
          data_type: "PointCloud2"
          marking: True
          clearing: True
        # observation_sources: scan
        # scan:
        #   topic: /scan
        #   max_obstacle_height: 2.0
        #   clearing: True
        #   marking: True
        #   data_type: "LaserScan"
        #   raytrace_max_range: 3.0
        #   raytrace_min_range: 0.0
        #   obstacle_max_range: 2.5
        #   obstacle_min_range: 0.0
      always_send_full_costmap: true

# GPS WPF CHANGE: Remove static layer
global_costmap:
  global_costmap:
    ros__parameters:
      use_sim_time: True
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      robot_radius: 0.22
      resolution: 0.25
      # When using GPS navigation you will potentially traverse huge environments which are not practical to
      # fit on a big static costmap. Thus it is recommended to use a rolling global costmap large enough to
      # contain each pair of successive waypoints. See: https://github.com/ros-planning/navigation2/issues/2174
      rolling_window: True
      width: 30
      height: 30
      # origin_x: 0.0
      # origin_y: 0.0
      track_unknown_space: false
      # no static map
      plugins: ["obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: false
        observation_sources: pointcloud
        pointcloud:
          topic: /cloud_map
          max_obstacle_height: 2.0
          min_obstacle_height: 0.0
          obstacle_range: 2.5
          raytrace_range: 3.0
          observation_persistence: 0.0
          data_type: "PointCloud2"
          marking: True
          clearing: True
        # observation_sources: scan
        # scan:
        #   topic: /scan
        #   max_obstacle_height: 2.0
        #   clearing: True
        #   marking: True
        #   data_type: "LaserScan"
        #   raytrace_max_range: 3.0
        #   raytrace_min_range: 0.0
        #   obstacle_max_range: 2.5
        #   obstacle_min_range: 0.0
        #   # outdoors there will probably be more inf points
        #   inf_is_valid: true
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      always_send_full_costmap: true

# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
# map_server:
#   ros__parameters:
#     yaml_filename: ""

map_saver:
  ros__parameters:
    save_map_timeout: 5.0
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: True
    service_introspection_mode: "disabled"

planner_server:
  ros__parameters:
    use_sim_time: True
    expected_planner_frequency: 20.0
    planner_plugins: ["GridBased"]
    costmap_update_timeout: 1.0
    service_introspection_mode: "disabled"
    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
      refinement_num: 2
      # True for Hybrid A* or State Lattice to not smooth over directional changes
      enforce_path_inversion: True
      do_refinement: True

behavior_server:
  ros__parameters:
    use_sim_time: True
    local_costmap_topic: local_costmap/costmap_raw
    global_costmap_topic: global_costmap/costmap_raw
    local_footprint_topic: local_costmap/published_footprint
    global_footprint_topic: global_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"
      acceleration_limit: 2.5
      deceleration_limit: -2.5
      minimum_speed: 0.10
    drive_on_heading:
      plugin: "nav2_behaviors/DriveOnHeading"
      acceleration_limit: 2.5
      deceleration_limit: -2.5
      minimum_speed: 0.10
    wait:
      plugin: "nav2_behaviors/Wait"
    assisted_teleop:
      plugin: "nav2_behaviors/AssistedTeleop"
    local_frame: odom
    global_frame: map
    robot_base_frame: base_link
    transform_tolerance: 0.2
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

waypoint_follower:
  ros__parameters:
    use_sim_time: True
    loop_rate: 20
    stop_on_failure: false
    service_introspection_mode: "disabled"
    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: [1.0, 0.0, 2.0]
    min_velocity: [-0.5, 0.0, -2.0]
    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

# collision_monitor:
#   ros__parameters:
#     base_frame_id: "base_footprint"
#     odom_frame_id: "odom"
#     cmd_vel_in_topic: "cmd_vel_smoothed"
#     cmd_vel_out_topic: "cmd_vel"
#     state_topic: "collision_monitor_state"
#     transform_tolerance: 0.2
#     source_timeout: 1.0
#     base_shift_correction: True
#     stop_pub_timeout: 2.0
#     # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types,
#     # and robot footprint for "approach" action type.
#     polygons: ["FootprintApproach"]
#     FootprintApproach:
#       type: "polygon"
#       action_type: "approach"
#       footprint_topic: "/local_costmap/published_footprint"
#       time_before_collision: 2.0
#       simulation_time_step: 0.1
#       min_points: 6
#       visualize: False
#       enabled: True
#     observation_sources: ["scan"]
#     scan:
#       type: "scan"
#       topic: "scan"
#       min_height: 0.15
#       max_height: 2.0
#       enabled: True

# docking_server:
#   ros__parameters:
#     controller_frequency: 50.0
#     initial_perception_timeout: 5.0
#     wait_charge_timeout: 5.0
#     dock_approach_timeout: 30.0
#     undock_linear_tolerance: 0.05
#     undock_angular_tolerance: 0.1
#     max_retries: 3
#     base_frame: "base_link"
#     fixed_frame: "odom"
#     dock_prestaging_tolerance: 0.5
#     service_introspection_mode: "disabled"

#     # Types of docks
#     dock_plugins: ["simple_charging_dock"]
#     simple_charging_dock:
#       plugin: "opennav_docking::SimpleChargingDock"
#       docking_threshold: 0.05
#       staging_x_offset: -0.7
#       use_external_detection_pose: true
#       use_battery_status: false # true
#       use_stall_detection: false # true
#       dock_direction: "forward"

#       external_detection_timeout: 1.0
#       external_detection_translation_x: -0.18
#       external_detection_translation_y: 0.0
#       external_detection_rotation_roll: -1.57
#       external_detection_rotation_pitch: -1.57
#       external_detection_rotation_yaw: 0.0
#       filter_coef: 0.1

#     # Dock instances
#     # The following example illustrates configuring dock instances.
#     # docks: ['home_dock']  # Input your docks here
#     # home_dock:
#     #   type: 'simple_charging_dock'
#     #   frame: map
#     #   pose: [0.0, 0.0, 0.0]

#     controller:
#       k_phi: 3.0
#       k_delta: 2.0
#       v_linear_min: 0.15
#       v_linear_max: 0.15
#       use_collision_detection: true
#       costmap_topic: "/local_costmap/costmap_raw"
#       footprint_topic: "/local_costmap/published_footprint"
#       transform_tolerance: 0.1
#       projection_time: 5.0
#       simulation_step: 0.1
#       dock_collision_threshold: 0.3

# loopback_simulator:
#   ros__parameters:
#     base_frame_id: "base_footprint"
#     odom_frame_id: "odom"
#     map_frame_id: "map"
#     scan_frame_id: "base_scan" # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
#     update_duration: 0.02
#     scan_range_min: 0.05
#     scan_range_max: 30.0
#     scan_angle_min: -3.1415
#     scan_angle_max: 3.1415
#     scan_angle_increment: 0.02617
#     scan_use_inf: true