track configurations

src/navigation/nav_bringup/config/nav2_params.yaml

@@ -198,11 +198,11 @@ controller_server:
     # Controller parameters
     RegulatedPurePursuit:
       plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
-      desired_linear_vel: 4.0  # The desired maximum linear velocity to use.
+      desired_linear_vel: 3.0  # The desired maximum linear velocity to use.
       lookahead_dist: 4.0  # The lookahead distance to use to find the lookahead point.
       # min_lookahead_dist: 3.0  # The minimum lookahead distance threshold when using velocity scaled lookahead distances.
       # max_lookahead_dist: 5.0  # The maximum lookahead distance threshold when using velocity scaled lookahead distances.
-      lookahead_time: 1.5  # The time to project the velocity by to find the velocity scaled lookahead distance. Also known as the lookahead gain.
+      lookahead_time: 2.0  # The time to project the velocity by to find the velocity scaled lookahead distance. Also known as the lookahead gain.
       # rotate_to_heading_angular_vel: 1.8  # If rotate to heading is used, this is the angular velocity to use.
       transform_tolerance: 0.3  # The TF transform tolerance.
       use_velocity_scaled_lookahead_dist: false  # Whether to use the velocity scaled lookahead distances or constant lookahead_distance.

src/navigation/nav_bringup/config/slam_toolbox_params.yaml

@@ -22,13 +22,13 @@ slam_toolbox_node:
     # map_start_pose: [0.0, 0.0, 0.0]  # Pose to start pose-graph mapping/localization in, if available
     debug_logging: false  # Change logger to debug
     throttle_scans: 1  # Number of scans to throttle in synchronous mode
-    transform_publish_period: 0.02  # The map to odom transform publish period. 0 will not publish transforms
-    map_update_interval: 2.0  # Interval to update the 2D occupancy map for other applications / visualization
+    transform_publish_period: 0.01  # The map to odom transform publish period. 0 will not publish transforms
+    map_update_interval: 3.0  # Interval to update the 2D occupancy map for other applications / visualization
     enable_interactive_mode: false  # Interactive mode will retain a cache of laser scans mapped to their ID for visualization in interactive mode
-    position_covariance_scale: 1.0  # This can be used to tune the influence of the pose position in a downstream localization filter
+    position_covariance_scale: 1.5  # This can be used to tune the influence of the pose position in a downstream localization filter
     yaw_covariance_scale: 1.0  # Pose yaw
-    resolution: 0.1  # Resolution of the 2D occupancy map to generate
-    max_laser_range: 50.0  # Maximum laser range to use for 2D occupancy map rastering
+    resolution: 0.15  # Resolution of the 2D occupancy map to generate
+    max_laser_range: 35.0  # Maximum laser range to use for 2D occupancy map rastering
     minimum_time_interval: 0.5  # The minimum duration of time between scans to be processed in synchronous mode
     transform_timeout: 0.5  # TF timeout for looking up transforms
     tf_buffer_duration: 0.1  # Duration to store TF messages for lookup. Set high if running offline at multiple times speed in synchronous mode

src/operations/mission_controller/mission_controller/node_trackdrive_handler_nav.py

@@ -19,6 +19,7 @@
 from std_srvs.srv import Trigger
 
 from driverless_common.shutdown_node import ShutdownNode
+from rclpy.node import Node
 
 
 class TrackdriveHandler(ShutdownNode):