adding slash to seperate the robot namespace and the frame id

configs/mp_400/navigation_0.yaml

@@ -1,7 +1,7 @@
 neo_localization2_node:
   ros__parameters:
-    base_frame: "base_footprint"
-    odom_frame: "odom"
+    base_frame: "/base_footprint"
+    odom_frame: "/odom"
     # exponential low pass gain for localization update (0 to 1)
     #   (higher gain means odometry is less used / relied on)
     update_gain: 0.5
@@ -26,7 +26,7 @@ neo_localization2_node:
     #    how fast to increase particle spread when in 1D / 0D mode
     odometry_std_xy: 0.01
     # odometry error in yaw angle [rad/rad] [1]
-    #    how fast to increase particle spread when in 0D mode
+    #  how fast to increase particle spread when in 0D mode
     odometry_std_yaw: 0.01
     # minimum particle spread in x and y [m]
     min_sample_std_xy: 0.025
@@ -37,9 +37,9 @@ neo_localization2_node:
     # initial/maximum particle spread in yaw angle [rad]
     max_sample_std_yaw: 0.5
     # threshold for 1D / 2D decision making (minimum average second order gradient)
-    #   if worst gradient direction is below this value we go into 1D mode
-    #   if both gradient directions are below we may go into 0D mode, depending on disable_threshold
-    #   higher values will make it go into 1D / 0D mode earlier
+    # if worst gradient direction is below this value we go into 1D mode
+    # if both gradient directions are below we may go into 0D mode, depending on disable_threshold
+    # higher values will make it go into 1D / 0D mode earlier
     constrain_threshold: 0.1
     # threshold for 1D / 2D decision making (with or without orientation)
     #   higher values will make it go into 1D mode earlier
@@ -56,9 +56,8 @@ neo_localization2_node:
     transform_timeout: 0.2
     # if to broadcast map frame
     broadcast_tf: true
-    broadcast_info: false
-    # Scan topic
-    scan_topic: scan
+    # Scan topic - feel free to use topic /scan if you have 2 laser scanners
+    scan_topic: "scan"
     # Initial Pose topic
     initialpose: initialpose
     # Map Tile topic
@@ -113,17 +112,8 @@ amcl:
     # z_rand: 0.5
     # z_short: 0.05
 
-amcl_map_client:
-  ros__parameters:
-    use_sim_time: True
-
-amcl_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 bt_navigator:
   ros__parameters:
-    use_sim_time: True
     global_frame: map
     robot_base_frame: robot0base_link
     bt_loop_duration: 10
@@ -183,15 +173,13 @@ bt_navigator:
 controller_server:
   ros__parameters:
     # controller server parameters (see Controller Server for more info)
-    use_sim_time: False
     controller_frequency: 100.0
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
     controller_plugins: ["FollowPath"]
     goal_checker_plugins: ["general_goal_checker"]
     progress_checker_plugin: "progress_checker"
-    odom_topic: "/robot0/odom"
     progress_checker:
       plugin: "nav2_controller::SimpleProgressChecker"
       required_movement_radius: 0.5
@@ -222,7 +210,7 @@ controller_server:
       # The absolute value of the minimum translational velocity for the robot in m/s
       min_trans_vel : 0.1
       # The tolerance in radians for the controller in yaw/rotation when achieving its goal
-      yaw_goal_tolerance : 0.01
+      yaw_goal_tolerance : 0.05
       # The tolerance in meters for the controller in the x & y distance when achieving a goal
       xy_goal_tolerance : 0.1
       # How long to fine tune for goal position after reaching tolerance limits [s]
@@ -263,23 +251,27 @@ controller_server:
       min_stop_dist : 0.3
       # If robot has differential drive, holonomic otherwise
       differential_drive : true
-      odom_topic: /robot0/odom
+      # odom frame_id
+      local_frame: "/odom"
+      # base frame_id
+      base_frame: "/base_link"
+      # odom topic
+      odom_topic: "odom"
 
 local_costmap:
   local_costmap:
     ros__parameters:
       update_frequency: 10.0
+      use_sim_time: True
       publish_frequency: 1.0
-      global_frame: robot0odom
-      robot_base_frame: robot0base_link
+      global_frame: robot0/odom
+      robot_base_frame: robot0/base_link
       footprint_padding: 0.
       footprint:  "[ [0.30,0.30],[-0.30,0.30],[-0.30,-0.3],[0.30,-0.3] ]"
-      use_sim_time: True
       rolling_window: true
-      map_topic: "/map"
       width: 5
       height: 5
-      resolution: 0.02
+      resolution: 0.03
       # robot_radius: 0.22
       plugins: ["obstacle_layer", "inflation_layer"]
       inflation_layer:
@@ -292,11 +284,7 @@ local_costmap:
         observation_sources: scan
         scan:
           topic: /robot0/scan
-          obstacle_max_range: 5.0
           max_obstacle_height: 2.0
-          obstacle_min_range: 0.0
-          raytrace_max_range: 8.0
-          raytrace_min_range: 0.0
           clearing: True
           marking: True
           data_type: "LaserScan"
@@ -305,14 +293,14 @@ local_costmap:
 global_costmap:
   global_costmap:
     ros__parameters:
-      update_frequency: 1.0
+      update_frequency: 0.4
       publish_frequency: 1.0
       global_frame: map
-      robot_base_frame: robot0base_link
+      robot_base_frame: robot0/base_link
+      map_topic: /map
       footprint_padding: 0.0
       footprint:  "[ [0.30,0.30],[-0.30,0.30],[-0.30,-0.3],[0.30,-0.3] ]"
-      use_sim_time: True
-      map_topic: "/map"
+      # robot_radius: 0.22
       resolution: 0.05
       plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
       obstacle_layer:
@@ -322,7 +310,6 @@ global_costmap:
         scan:
           topic: /robot0/scan
           obstacle_max_range: 5.0
-          max_obstacle_height: 2.0
           obstacle_min_range: 0.0
           raytrace_max_range: 8.0
           raytrace_min_range: 0.0
@@ -341,32 +328,26 @@ global_costmap:
 
 map_server:
   ros__parameters:
-    use_sim_time: True
-    yaml_filename: "neo_track1.yaml"
+    yaml_filename: "test.yaml"
 
 map_saver:
   ros__parameters:
-    use_sim_time: True
     save_map_timeout: 5000
     free_thresh_default: 0.25
     occupied_thresh_default: 0.65
     map_subscribe_transient_local: False
 
 planner_server:
   ros__parameters:
-    expected_planner_frequency: 20.0
-    use_sim_time: True
+    expected_planner_frequency: 5.0
+    use_sim_time: False
     planner_plugins: ["GridBased"]
     GridBased:
       plugin: "nav2_navfn_planner/NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true
 
-planner_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 behavior_server:
   ros__parameters:
     costmap_topic: local_costmap/costmap_raw
@@ -379,10 +360,9 @@ behavior_server:
       plugin: "nav2_behaviors/BackUp"
     wait:
       plugin: "nav2_behaviors/Wait"
-    global_frame: robot0odom
-    robot_base_frame: robot0base_link
+    global_frame: robot0/odom
+    robot_base_frame: robot0/base_link
     transform_timeout: 0.1
-    use_sim_time: true
     simulate_ahead_time: 2.0
     max_rotational_vel: 0.5
     min_rotational_vel: 0.3
@@ -396,4 +376,4 @@ waypoint_follower:
     wait_at_waypoint:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"
       enabled: True
-      waypoint_pause_duration: 200
+      waypoint_pause_duration: 200