Fix/params (#20)

* add navyu config file

* fixed node name

navyu_navigation/config/navyu_params.yaml

@@ -0,0 +1,46 @@
+navyu_global_costmap_node:
+  ros__parameters:
+    update_frequency: 1.0
+    base_frame_id: base_link
+    map_frame_id: map
+    plugins: [static_layer, dynamic_layer, inflation_layer]
+    inflation_layer:
+      inflation_radius: 0.55
+      robot_radius: 0.22
+    static_layer:
+      map_topic: map
+    dynamic_layer:
+      scan_topic: scan
+      global_frame: map
+      min_laser_range: 0.0
+      max_laser_range: 5.0
+
+navyu_global_planner_node:
+  ros__parameters:
+    map_frame: map
+    base_frame: base_link
+    displacement_threshold: 5.0
+    lethal_cost_threshold: 30.0
+
+navyu_path_tracker_node:
+  ros__parameters:
+    map_frame: map
+    base_frame: base_link
+    update_frequency: 100.0
+    limit_v_speed: 0.5
+    limit_w_speed: 1.0
+    yaw_tolerance: 0.07
+    gain: 0.1 # to update look_ahead_distance from velocity
+    look_ahead_const: 0.3
+
+navyu_safety_limiter_node:
+  ros__parameters:
+    base_frame: base_link
+    slowdown_ratio: 0.45
+    collision_points_threshold_in_polygon: 6
+    scan_timeout: 1.0
+    robot_radius: 0.5
+    length: 0.5
+    scale: 1.5
+    slowdown_polygon: [-0.4, 0.5, -0.4, -0.5, 0.7, -0.5, 0.7, 0.5]
+    stop_polygon: [-0.3, 0.3, -0.3, -0.3, 0.5, -0.3, 0.5, 0.3]

navyu_navigation/launch/navyu_bringup.launch.py

@@ -30,20 +30,8 @@ def generate_launch_description():
     map_path = PathJoinSubstitution([FindPackageShare("navyu_navigation"), "map", "map.yaml"])
     rviz_config = PathJoinSubstitution([FindPackageShare("navyu_navigation"), "rviz", "navyu.rviz"])
 
-    costmap_map_config_path = PathJoinSubstitution(
-        [FindPackageShare("navyu_costmap_2d"), "config", "navyu_costmap_2d_params.yaml"]
-    )
-
-    navyu_global_planner_config = PathJoinSubstitution(
-        [FindPackageShare("navyu_path_planner"), "config", "navyu_global_planner_params.yaml"]
-    )
-
-    navyu_path_tracker_config = PathJoinSubstitution(
-        [FindPackageShare("navyu_path_tracker"), "config", "navyu_path_tracker_params.yaml"]
-    )
-
-    navyu_safety_limiter_config = PathJoinSubstitution(
-        [FindPackageShare("navyu_safety_limiter"), "config", "navyu_safety_limiter_params.yaml"]
+    navyu_config_path = PathJoinSubstitution(
+        [FindPackageShare("navyu_navigation"), "config", "navyu_params.yaml"]
     )
 
     lifecycle_node_list = ["map_server"]
@@ -63,28 +51,28 @@ def generate_launch_description():
             Node(
                 package="navyu_costmap_2d",
                 executable="navyu_costmap_2d_node",
-                name="global_costmap_node",
-                parameters=[costmap_map_config_path, {"use_sim_time": use_sim_time}],
+                name="navyu_global_costmap_node",
+                parameters=[navyu_config_path, {"use_sim_time": use_sim_time}],
             ),
             Node(
                 package="navyu_path_planner",
                 executable="navyu_global_planner_node",
                 name="navyu_global_planner_node",
-                parameters=[navyu_global_planner_config, {"use_sim_time": use_sim_time}],
+                parameters=[navyu_config_path, {"use_sim_time": use_sim_time}],
             ),
             Node(
                 package="navyu_path_tracker",
                 executable="navyu_path_tracker_node",
                 name="navyu_path_tracker_node",
                 remappings=[("/cmd_vel", "/cmd_vel_in")],
-                parameters=[navyu_path_tracker_config, {"use_sim_time": use_sim_time}],
+                parameters=[navyu_config_path, {"use_sim_time": use_sim_time}],
             ),
             Node(
                 package="navyu_safety_limiter",
                 executable="navyu_safety_limiter_node",
-                name="safety_limiter_node",
+                name="navyu_safety_limiter_node",
                 remappings=[("/cmd_vel_out", "/cmd_vel")],
-                parameters=[navyu_safety_limiter_config, {"use_sim_time": use_sim_time}],
+                parameters=[navyu_config_path, {"use_sim_time": use_sim_time}],
             ),
             Node(
                 package="nav2_lifecycle_manager",