amcl:
  ros__parameters:
    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:
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    wait_for_service_timeout: 1000
    action_server_result_timeout: 900.0
    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.

    # 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_names:
      - compute_path_error_code
      - follow_path_error_code

controller_server:
  ros__parameters:
    controller_frequency: 10.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    progress_checker_plugins: ["progress_checker"]
    goal_checker_plugins: ["goal_checker"]
    controller_plugins: ["FollowPath"]
    odom_topic: "/odom"

    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
    FollowPath:
      plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"

      transform_tolerance: 0.5  # Reduced for more precise tracking  

      # Adjusted speed for large excavator
      desired_linear_vel: 0.5  # Slightly reduced for better tracking
      lookahead_dist: 1.4  # Increased slightly to follow the path better

      allow_reversing: true

      # Lookahead adjustments for improved tracking
      use_velocity_scaled_lookahead_dist: true
      min_lookahead_dist: 0.8  
      max_lookahead_dist: 2.2  # Reduced max lookahead to stay on trajectory
      lookahead_time: 1.8  # Reduced to improve responsiveness  

      # Prevent point turns but allow better gradual turning
      use_rotate_to_heading: false  # **Still disabled to prevent point turns**
      rotate_to_heading_angular_vel: 0.6  # Disabled

      # Collision and approach considerations
      use_velocity_scaled_lookahead_dist: true
      min_approach_linear_velocity: 0.5  # Slightly increased to prevent stalling
      approach_velocity_scaling_dist: 0.5
      use_collision_detection: true
      max_allowed_time_to_collision_up_to_carrot: 1.0

      # Regulated velocity settings for smoother movement
      use_regulated_linear_velocity_scaling: true
      use_cost_regulated_linear_velocity_scaling: true  # **Enabled to smooth velocity**  
      regulated_linear_scaling_min_radius: 1.2  # Adjusted for tighter turns
      regulated_linear_scaling_min_speed: 0.5

      # Curvature settings for better turning control
      use_fixed_curvature_lookahead: true
      curvature_lookahead_dist: 1.0

      # Faster turning while maintaining smooth motion
      max_angular_accel: 0.15  # Reduced to avoid controller overshoot
      max_robot_pose_search_dist: 12.0  # Slightly reduced to prioritize closer paths  

      # Cost scaling to balance speed and accuracy
      interpolate_curvature_after_goal: true  
      cost_scaling_dist: 0.4  
      cost_scaling_gain: 1.2  
      inflation_cost_scaling_factor: 3.5  

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link
      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: 0.70
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        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: 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
      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
      robot_radius: 0.22
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: 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
      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: 0.7
      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

planner_server:
  ros__parameters:
    planner_plugins: ["GridBased"]
    use_sim_time: True

    GridBased:
      plugin: "nav2_smac_planner::SmacPlannerHybrid" # In Iron and older versions, "/" was used instead of "::"
      downsample_costmap: false           # whether or not to downsample the map
      downsampling_factor: 1              # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm)
      tolerance: 0.25                     # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
      allow_unknown: true                 # allow traveling in unknown space
      max_iterations: 1000000             # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
      max_on_approach_iterations: 1000    # Maximum number of iterations after within tolerances to continue to try to find exact solution
      max_planning_time: 5.0              # max time in s for planner to plan, smooth
      motion_model_for_search: "REEDS_SHEPP"    # Hybrid-A* Dubin, Redds-Shepp
      angle_quantization_bins: 72         # Number of angle bins for search
      analytic_expansion_ratio: 3.5       # The ratio to attempt analytic expansions during search for final approach.
      analytic_expansion_max_length: 3.0  # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
      analytic_expansion_max_cost: 200.0  # The maximum single cost for any part of an analytic expansion to contain and be valid, except when necessary on approach to goal
      analytic_expansion_max_cost_override: false  #  Whether or not to override the maximum cost setting if within critical distance to goal (ie probably required)
      minimum_turning_radius: 1.50        # minimum turning radius in m of path / vehicle
      reverse_penalty: 1.0                # Penalty to apply if motion is reversing, must be => 1
      change_penalty: 0.0                 # Penalty to apply if motion is changing directions (L to R), must be >= 0
      non_straight_penalty: 1.2           # Penalty to apply if motion is non-straight, must be => 1
      cost_penalty: 2.0                   # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
      retrospective_penalty: 0.015
      lookup_table_size: 20.0             # Size of the dubin/reeds-sheep distance window to cache, in meters.
      cache_obstacle_heuristic: false     # Cache the obstacle map dynamic programming distance expansion heuristic between subsequent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
      debug_visualizations: false         # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning) and the path's footprints on the /planned_footprints topic. WARNING: heavy to compute and to display, for debug only as it degrades the performance.
      use_quadratic_cost_penalty: False
      downsample_obstacle_heuristic: True
      allow_primitive_interpolation: False
      smooth_path: True                   # If true, does a simple and quick smoothing post-processing to the path

      smoother:
        max_iterations: 1000
        w_smooth: 0.3
        w_data: 0.2
        tolerance: 1.0e-10
        do_refinement: true
        refinement_num: 2

smoother_server:
  ros__parameters:
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: True

behavior_server:
  ros__parameters:
    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"
    drive_on_heading:
      plugin: "nav2_behaviors::DriveOnHeading"
    wait:
      plugin: "nav2_behaviors::Wait"
    assisted_teleop:
      plugin: "nav2_behaviors::AssistedTeleop"
    local_frame: odom
    global_frame: map
    robot_base_frame: base_link
    transform_tolerance: 0.1
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

waypoint_follower:
  ros__parameters:
    loop_rate: 20
    stop_on_failure: false
    action_server_result_timeout: 900.0
    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:
    smoothing_frequency: 20.0
    scale_velocities: False
    feedback: "OPEN_LOOP"
    max_velocity: [0.5, 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: 1.2
      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_backwards: false
    dock_prestaging_tolerance: 0.5

    # 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

      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

ros2 launch nav2_bringup tb4_loopback_simulation.launch.py params_file:=nav2_params.yaml