Multi robot sim with xacro

configs/mp_400/navigation_0.yaml

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+neo_localization2_node:
+  ros__parameters:
+    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
+    # time based confidence gain when in 2D / 1D mode
+    confidence_gain: 0.01
+    # how many particles (samples) to spread (per update)
+    sample_rate: 10
+    # localization update rate [ms]
+    loc_update_time: 100
+    # map tile update rate [1/s]
+    map_update_rate: 0.5
+    # map tile size in pixels
+    map_size: 1000
+    # how often to downscale (half) the original map
+    map_downscale: 0
+    # how many 3x3 gaussian smoothing iterations are applied to the map
+    num_smooth: 5
+    # minimum score for valid localization (otherwise 0D mode)
+    #    higher values make it go into 0D mode earlier
+    min_score: 0.2
+    # odometry error in x and y [m/m] [1]
+    #    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
+    odometry_std_yaw: 0.01
+    # minimum particle spread in x and y [m]
+    min_sample_std_xy: 0.025
+    # minimum particle spread in yaw angle [rad]
+    min_sample_std_yaw: 0.025
+    # initial/maximum particle spread in x and y [m]
+    max_sample_std_xy: 0.5
+    # 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
+    constrain_threshold: 0.1
+    # threshold for 1D / 2D decision making (with or without orientation)
+    #   higher values will make it go into 1D mode earlier
+    constrain_threshold_yaw: 0.2
+    # minimum number of points per update
+    min_points: 20
+    # solver update gain, lower gain = more stability / slower convergence
+    solver_gain: 0.1
+    # solver update damping, higher damping = more stability / slower convergence
+    solver_damping: 1000.0
+    # number of gauss-newton iterations per sample per scan
+    solver_iterations: 20
+    # maximum wait for getting transforms [s]
+    transform_timeout: 0.2
+    # if to broadcast map frame
+    broadcast_tf: true
+    # 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
+    map_tile: map_tile
+    # Map Pose topic
+    map_pose: map_pose
+    # particle_cloud topic
+    particle_cloud: particlecloud
+    # amcl_pose topic
+    amcl_pose: amcl_pose
+    map_topic: "/map"
+
+amcl:
+  ros__parameters:
+    use_sim_time: True
+    alpha1: 0.001
+    alpha2: 0.001
+    alpha3: 0.001
+    alpha4: 0.001
+    alpha5: 0.001
+    base_frame_id: "base_link"
+    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
+    set_initial_pose: true
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: -1.44
+    laser_min_range: 1.44
+    laser_model_type: "likelihood_field"
+    max_beams: 200
+    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: 2
+    robot_model_type: "differential"
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 0.1
+    scan_topic: /scan
+    update_min_a: 0.1
+    update_min_d: 0.1
+    # z_hit: 0.5
+    # z_max: 0.05
+    # z_rand: 0.5
+    # z_short: 0.05
+
+bt_navigator:
+  ros__parameters:
+    global_frame: map
+    robot_base_frame: robot0/base_link
+    bt_loop_duration: 10
+    default_server_timeout: 20
+    navigators: ['navigate_to_pose', 'navigate_through_poses']
+    plugin_lib_names:
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_assisted_teleop_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_goal_updated_controller_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_assisted_teleop_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+    error_code_names:
+      - compute_path_error_code
+      - follow_path_error_code
+
+controller_server:
+  ros__parameters:
+    # controller server parameters (see Controller Server for more info)
+    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"
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 100.0
+    general_goal_checker:
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.05
+      yaw_goal_tolerance: 0.05
+      stateful: True
+    # neo_local_planner controller parameters
+    FollowPath:
+      plugin: "neo_local_planner::NeoLocalPlanner"
+      # The x acceleration limit of the robot in meters/sec^2
+       # The x acceleration limit of the robot in meters/sec^2
+      acc_lim_x : 0.25
+      # The rotational acceleration limit of the robot in radians/sec^2
+      acc_lim_theta : 0.8
+      # The maximum x velocity for the robot in m/s.
+      max_vel_x : 0.8
+      # The minimum x velocity for the robot in m/s, negative for backwards motion.
+      min_vel_x : -0.1
+      # The absolute value of the maximum rotational velocity for the robot in rad/s
+      max_rot_vel : 0.8
+      # The absolute value of the minimum rotational velocity for the robot in rad/s
+      min_rot_vel : 0.1
+      # The absolute value of the maximum translational velocity for the robot in m/s
+      max_trans_vel : 0.8
+      # 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 : 0.05
+      # 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]
+      goal_tune_time : 3.0
+      # How far to predict control pose into the future based on latest odometry [s]
+      lookahead_time : 0.3
+      # How far to look ahead when computing path orientation [m]
+      lookahead_dist : 0.5
+      # Threshold yaw error below which we consider to start moving [rad]
+      start_yaw_error : 0.2
+      # Gain when adjusting final x position for goal [1/s]
+      pos_x_gain : 1.0
+      # Gain for lane keeping based on y error (differential only) [rad/s^2]
+      pos_y_yaw_gain : 1.0
+      # Gain for lane keeping based on yaw error (differential only) [1/s]
+      yaw_gain : 2.0
+      # Gain for adjusting yaw when not translating, or in case of holonomic drive  [1/s]
+      static_yaw_gain : 3.0
+      # Gain for y cost avoidance (differential only)
+      cost_y_yaw_gain : 0.3
+      # How far ahead to compute y cost gradient (constant offset) [m]
+      cost_y_lookahead_dist : 0.3
+      # How far ahead to compute y cost gradient (dynamic offset) [s]
+      cost_y_lookahead_time : 1.5
+      # Gain for yaw cost avoidance
+      cost_yaw_gain : 2.0
+      # Gain for final control low pass filter
+      low_pass_gain : 0.2
+      # Max cost to allow, above we slow down to min_trans_vel or even stop
+      max_cost : 0.95
+      # Max velocity based on curvature [rad/s]
+      max_curve_vel : 0.3
+      # Max distance to goal when looking for it [m]
+      max_goal_dist : 0.3
+      # Max distance allowable for backing up (zero = unlimited) [m]
+      max_backup_dist : 0.1
+      # Minimal distance for stopping [m]
+      min_stop_dist : 0.3
+      # If robot has differential drive, holonomic otherwise
+      differential_drive : true
+      # 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: 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] ]"
+      rolling_window: true
+      width: 5
+      height: 5
+      resolution: 0.03
+      # robot_radius: 0.22
+      plugins: ["obstacle_layer", "inflation_layer"]
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 5.0
+        inflation_radius: 0.8
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /robot0/scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+      always_send_full_costmap: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 0.4
+      publish_frequency: 1.0
+      global_frame: map
+      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] ]"
+      # robot_radius: 0.22
+      resolution: 0.05
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /robot0/scan
+          obstacle_max_range: 5.0
+          obstacle_min_range: 0.0
+          raytrace_max_range: 8.0
+          raytrace_min_range: 0.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+        enabled: True
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 4.5
+        inflation_radius: 0.8
+      always_send_full_costmap: True
+
+map_server:
+  ros__parameters:
+    yaml_filename: "test.yaml"
+
+map_saver:
+  ros__parameters:
+    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: 5.0
+    use_sim_time: False
+    planner_plugins: ["GridBased"]
+    GridBased:
+      plugin: "nav2_navfn_planner/NavfnPlanner"
+      tolerance: 0.5
+      use_astar: false
+      allow_unknown: true
+
+behavior_server:
+  ros__parameters:
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: ["spin", "backup", "wait"]
+    spin:
+      plugin: "nav2_behaviors/Spin"
+    backup:
+      plugin: "nav2_behaviors/BackUp"
+    wait:
+      plugin: "nav2_behaviors/Wait"
+    global_frame: robot0/odom
+    robot_base_frame: robot0/base_link
+    transform_timeout: 0.1
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 0.5
+    min_rotational_vel: 0.3
+    rotational_acc_lim: 0.8
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"   
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200