TurtleBot3

WARNING: In this instruction, TurtleBot3 may move and rotate. Please place the robot on a safe ground.

NOTE

Please run the Navigation on Remote PC.
Make sure to launch the Bringup from TurtleBot3 before executing any operation.
The Navigation uses a map created by the SLAM. Please prepare a map before running the Navigation.

Navigation is to move the robot from one location to the specified destination in a given environment. For this purpose, a map that contains geometry information of furniture, objects, and walls of the given environment is required. As described in the previous SLAM section, the map was created with the distance information obtained by the sensor and the pose information of the robot itself.

The Navigation enables a robot to move from the current pose to the designated goal pose on the map by using the map, robot’s encoder, IMU sensor, and distance sensor. The procedure for performing this task is as follows.

If roscore is not running on the Remote PC, run roscore. Skip this step if roscore is already running.
```
$ roscore
```
If the Bringup is not running on the TurtleBot3 SBC, launch the Bringup. Skip this step if you have launched bringup previously.
- Open a new terminal from Remote PC with Ctrl + Alt + T and connect to Raspberry Pi with its IP address. The default password is turtlebot.
```
$ ssh pi@{IP_ADDRESS_OF_RASPBERRY_PI}
$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
```

Launch the Navigation.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.

$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

How to save the TURTLEBOT3_MODEL parameter?

The $ export TURTLEBOT3_MODEL=${TB3_MODEL} command can be omitted if the TURTLEBOT3_MODEL parameter is predefined in the .bashrc file.
The .bashrc file is automatically loaded when a terminal window is created.

Example of defining TurtlBot3 Burger as a default model.

$ echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
$ source ~/.bashrc

Example of defining TurtlBot3 Waffle Pi as a default model.

$ echo 'export TURTLEBOT3_MODEL=waffle_pi' >> ~/.bashrc
$ source ~/.bashrc

If roscore is not running on the Remote PC, run roscore. Skip this step if roscore is already running.
```
$ roscore
```
If the Bringup is not running on the TurtleBot3 SBC, launch the Bringup. Skip this step if you have launched bringup previously.
- Open a new terminal from Remote PC with Ctrl + Alt + T and connect to Raspberry Pi with its IP address. The default password is ubuntu.
```
$ ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI}
$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
```

Launch the Navigation.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.

$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

How to save the TURTLEBOT3_MODEL parameter?

Example of defining TurtlBot3 Burger as a default model.

$ echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
$ source ~/.bashrc

Example of defining TurtlBot3 Waffle Pi as a default model.

$ echo 'export TURTLEBOT3_MODEL=waffle_pi' >> ~/.bashrc
$ source ~/.bashrc

If roscore is not running on the Remote PC, run roscore. Skip this step if roscore is already running.
```
$ roscore
```
If the Bringup is not running on the TurtleBot3 SBC, launch the Bringup. Skip this step if you have launched bringup previously.
- Open a new terminal from Remote PC with Ctrl + Alt + T and connect to Raspberry Pi with its IP address. The default password is turtlebot. Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
```
$ ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI}
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
```

Launch the Navigation.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.

$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

How to save the TURTLEBOT3_MODEL parameter?

Example of defining TurtlBot3 Burger as a default model.

$ echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
$ source ~/.bashrc

Example of defining TurtlBot3 Waffle Pi as a default model.

$ echo 'export TURTLEBOT3_MODEL=waffle_pi' >> ~/.bashrc
$ source ~/.bashrc

If the Bringup is not running on the TurtleBot3 SBC, launch the Bringup. Skip this step if you have launched bringup previously.
- Open a new terminal from Remote PC with Ctrl + Alt + T and connect to Raspberry Pi with its IP address. The default password is ubuntu.
```
$ ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI}
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ ros2 launch turtlebot3_bringup robot.launch.py
```
Open a new terminal from Remote PC with Ctrl + Alt + T and launch the Navigation node. ROS 2 uses Navigation2. Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
```
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=$HOME/map.yaml
```

How to save the TURTLEBOT3_MODEL parameter?

Example of defining TurtlBot3 Burger as a default model.

$ echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
$ source ~/.bashrc

Example of defining TurtlBot3 Waffle Pi as a default model.

$ echo 'export TURTLEBOT3_MODEL=waffle_pi' >> ~/.bashrc
$ source ~/.bashrc

If the Bringup is not running on the TurtleBot3 SBC, launch the Bringup. Skip this step if you have launched bringup previously.
- Open a new terminal from Remote PC with Ctrl + Alt + T and connect to Raspberry Pi with its IP address. The default password is ubuntu.
```
$ ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI}
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ ros2 launch turtlebot3_bringup robot.launch.py
```
Open a new terminal from Remote PC with Ctrl + Alt + T and launch the Navigation node. ROS 2 uses Navigation2. Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
```
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=$HOME/map.yaml
```

How to save the TURTLEBOT3_MODEL parameter?

Example of defining TurtlBot3 Burger as a default model.

$ echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
$ source ~/.bashrc

Example of defining TurtlBot3 Waffle Pi as a default model.

$ echo 'export TURTLEBOT3_MODEL=waffle_pi' >> ~/.bashrc
$ source ~/.bashrc

If the Bringup is not running on the TurtleBot3 SBC, launch the Bringup. Skip this step if you have launched bringup previously.
- Open a new terminal from Remote PC with Ctrl + Alt + T and connect to Raspberry Pi with its IP address. The default password is ubuntu.
```
$ ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI}
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ ros2 launch turtlebot3_bringup robot.launch.py
```
Open a new terminal from Remote PC with Ctrl + Alt + T and launch the Navigation node. ROS 2 uses Navigation2. Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
```
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=$HOME/map.yaml
```

How to save the TURTLEBOT3_MODEL parameter?

Example of defining TurtlBot3 Burger as a default model.

$ echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
$ source ~/.bashrc

Example of defining TurtlBot3 Waffle Pi as a default model.

$ echo 'export TURTLEBOT3_MODEL=waffle_pi' >> ~/.bashrc
$ source ~/.bashrc

If the Bringup is not running on the TurtleBot3, launch the Bringup. Skip this step if you have launched bringup previously.
```
> roslaunch turtlebot3_bringup turtlebot3_robot.launch
```

Launch the Navigation.
Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.

> set TURTLEBOT3_MODEL=burger
> roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=%USERPROFILE%\map.yaml

Estimate Initial Pose

Initial Pose Estimation must be performed before running the Navigation as this process initializes the AMCL parameters that are critical in Navigation. TurtleBot3 has to be correctly located on the map with the LDS sensor data that neatly overlaps the displayed map.

Click the 2D Pose Estimate button in the RViz menu.
Click on the map where the actual robot is located and drag the large green arrow toward the direction where the robot is facing.
Repeat step 1 and 2 until the LDS sensor data is overlayed on the saved map.
Launch keyboard teleoperation node to precisely locate the robot on the map.
```
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
```
Move the robot back and forth a bit to collect the surrounding environment information and narrow down the estimated location of the TurtleBot3 on the map which is displayed with tiny green arrows.
Terminate the keyboard teleoperation node by entering Ctrl + C to the teleop node terminal in order to prevent different cmd_vel values are published from multiple nodes during Navigation.

Click the 2D Pose Estimate button in the RViz menu.
Click on the map where the actual robot is located and drag the large green arrow toward the direction where the robot is facing.
Repeat step 1 and 2 until the LDS sensor data is overlayed on the saved map.
Launch keyboard teleoperation node to precisely locate the robot on the map.
```
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
```
Move the robot back and forth a bit to collect the surrounding environment information and narrow down the estimated location of the TurtleBot3 on the map which is displayed with tiny green arrows.
Terminate the keyboard teleoperation node by entering Ctrl + C to the teleop node terminal in order to prevent different cmd_vel values are published from multiple nodes during Navigation.

Click the 2D Pose Estimate button in the RViz menu.
Click on the map where the actual robot is located and drag the large green arrow toward the direction where the robot is facing.
Repeat step 1 and 2 until the LDS sensor data is overlayed on the saved map.
Launch keyboard teleoperation node to precisely locate the robot on the map.
```
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
```
Move the robot back and forth a bit to collect the surrounding environment information and narrow down the estimated location of the TurtleBot3 on the map which is displayed with tiny green arrows.
Terminate the keyboard teleoperation node by entering Ctrl + C to the teleop node terminal in order to prevent different cmd_vel values are published from multiple nodes during Navigation.

Click the 2D Pose Estimate button in the RViz2 menu.
Click on the map where the actual robot is located and drag the large green arrow toward the direction where the robot is facing.
Repeat step 1 and 2 until the LDS sensor data is overlayed on the saved map.
Launch keyboard teleoperation node to precisely locate the robot on the map.
```
$ ros2 run turtlebot3_teleop teleop_keyboard
```
Move the robot back and forth a bit to collect the surrounding environment information and narrow down the estimated location of the TurtleBot3 on the map which is displayed with tiny green arrows.
Terminate the keyboard teleoperation node by entering Ctrl + C to the teleop node terminal in order to prevent different cmd_vel values are published from multiple nodes during Navigation.

Click the 2D Pose Estimate button in the RViz2 menu.
Click on the map where the actual robot is located and drag the large green arrow toward the direction where the robot is facing.
Repeat step 1 and 2 until the LDS sensor data is overlayed on the saved map.
Launch keyboard teleoperation node to precisely locate the robot on the map.
```
$ ros2 run turtlebot3_teleop teleop_keyboard
```
Move the robot back and forth a bit to collect the surrounding environment information and narrow down the estimated location of the TurtleBot3 on the map which is displayed with tiny green arrows.
Terminate the keyboard teleoperation node by entering Ctrl + C to the teleop node terminal in order to prevent different cmd_vel values are published from multiple nodes during Navigation.

Click the 2D Pose Estimate button in the RViz2 menu.
Click on the map where the actual robot is located and drag the large green arrow toward the direction where the robot is facing.
Repeat step 1 and 2 until the LDS sensor data is overlayed on the saved map.
Launch keyboard teleoperation node to precisely locate the robot on the map.
```
$ ros2 run turtlebot3_teleop teleop_keyboard
```
Move the robot back and forth a bit to collect the surrounding environment information and narrow down the estimated location of the TurtleBot3 on the map which is displayed with tiny green arrows.
Terminate the keyboard teleoperation node by entering Ctrl + C to the teleop node terminal in order to prevent different cmd_vel values are published from multiple nodes during Navigation.

Click the 2D Pose Estimate button in the RViz menu.
Click on the map where the actual robot is located and drag the large green arrow toward the direction where the robot is facing.
Repeat step 1 and 2 until the LDS sensor data is overlayed on the saved map.
Launch keyboard teleoperation node to precisely locate the robot on the map.
```
> roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
```
Move the robot back and forth a bit to collect the surrounding environment information and narrow down the estimated location of the TurtleBot3 on the map which is displayed with tiny green arrows.
Terminate the keyboard teleoperation node by entering Ctrl + C to the teleop node terminal in order to prevent different cmd_vel values are published from multiple nodes during Navigation.

Click the 2D Nav Goal button in the RViz menu.
Click on the map to set the destination of the robot and drag the green arrow toward the direction where the robot will be facing.
- This green arrow is a marker that can specify the destination of the robot.
- The root of the arrow is x, y coordinate of the destination, and the angle θ is determined by the orientation of the arrow.
- As soon as x, y, θ are set, TurtleBot3 will start moving to the destination immediately.

Read more about Navigation

The robot will create a path to reach to the Navigation Goal based on the global path planner. Then, the robot moves along the path. If an obstacle is placed in the path, the Navigation will use local path planner to avoid the obstacle.
Setting a Navigation Goal might fail if the path to the Navigation Goal cannot be created. If you wish to stop the robot before it reaches to the goal position, set the current position of TurtleBot3 as a Navigation Goal.
Official ROS Navigation Wiki

Click the 2D Nav Goal button in the RViz menu.
Click on the map to set the destination of the robot and drag the green arrow toward the direction where the robot will be facing.
- This green arrow is a marker that can specify the destination of the robot.
- The root of the arrow is x, y coordinate of the destination, and the angle θ is determined by the orientation of the arrow.
- As soon as x, y, θ are set, TurtleBot3 will start moving to the destination immediately.

Read more about Navigation

The robot will create a path to reach to the Navigation Goal based on the global path planner. Then, the robot moves along the path. If an obstacle is placed in the path, the Navigation will use local path planner to avoid the obstacle.
Setting a Navigation Goal might fail if the path to the Navigation Goal cannot be created. If you wish to stop the robot before it reaches to the goal position, set the current position of TurtleBot3 as a Navigation Goal.
Official ROS Navigation Wiki

Click the 2D Nav Goal button in the RViz menu.
Click on the map to set the destination of the robot and drag the green arrow toward the direction where the robot will be facing.
- This green arrow is a marker that can specify the destination of the robot.
- The root of the arrow is x, y coordinate of the destination, and the angle θ is determined by the orientation of the arrow.
- As soon as x, y, θ are set, TurtleBot3 will start moving to the destination immediately.

Read more about Navigation

The robot will create a path to reach to the Navigation Goal based on the global path planner. Then, the robot moves along the path. If an obstacle is placed in the path, the Navigation will use local path planner to avoid the obstacle.
Setting a Navigation Goal might fail if the path to the Navigation Goal cannot be created. If you wish to stop the robot before it reaches to the goal position, set the current position of TurtleBot3 as a Navigation Goal.
Official ROS Navigation Wiki

Click the Navigation2 Goal button in the RViz2 menu.
Click on the map to set the destination of the robot and drag the green arrow toward the direction where the robot will be facing.
- This green arrow is a marker that can specify the destination of the robot.
- The root of the arrow is x, y coordinate of the destination, and the angle θ is determined by the orientation of the arrow.
- As soon as x, y, θ are set, TurtleBot3 will start moving to the destination immediately.

Read more about Navigation

The robot will create a path to reach to the Navigation Goal based on the global path planner. Then, the robot moves along the path. If an obstacle is placed in the path, the Navigation will use local path planner to avoid the obstacle.
Setting a Navigation Goal might fail if the path to the Navigation Goal cannot be created. If you wish to stop the robot before it reaches to the goal position, set the current position of TurtleBot3 as a Navigation Goal.
Official ROS Navigation Wiki

Tuning Guide

Navigation stack has many parameters to change performances for different robots.

You can get more information about Navigation tuning from Basic Navigation Tuning Guide, ROS Navigation Tuning Guide by Kaiyu Zheng, and the chapter 11 of ROS Robot Programming book.

inflation_radius

Defined in turtlebot3_navigation/param/costmap_common_param_${TB3_MODEL}.yaml
This parameter makes inflation area from the obstacle. Path would be planned in order that it don’t across this area. It is safe that to set this to be bigger than robot radius. For more information, please refer to the costmap_2d wiki.

cost_scaling_factor

Defined in turtlebot3_navigation/param/costmap_common_param_${TB3_MODEL}.yaml
This factor is multiplied by cost value. Because it is an reciprocal propotion, this parameter is increased, the cost is decreased.

The best path is for the robot to pass through a center of between obstacles. Set this factor to be smaller in order to far from obstacles.

max_vel_x

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
This factor is set the maximum value of translational velocity.

min_vel_x

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
This factor is set the minimum value of translational velocity. If set this negative, the robot can move backwards.

max_trans_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the maximum translational velocity. The robot can not be faster than this.

min_trans_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the minimum translational velocity. The robot can not be slower than this.

max_rot_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the maximum rotational velocity. The robot can not be faster than this.

min_rot_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the minimum rotational velocity. The robot can not be slower than this.

acc_lim_x

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the translational acceleration limit.

acc_lim_theta

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the rotational acceleration limit.

xy_goal_tolerance

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
The x,y distance allowed when the robot reaches its goal pose.

yaw_goal_tolerance

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
The yaw angle allowed when the robot reaches its goal pose.

sim_time

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
This factor is set forward simulation in seconds. Too low value is in sufficient time to pass narrow area and too high value is not allowed rapidly rotates. You can watch defferences of length of the yellow line in below image.

Navigation stack has many parameters to change performances for different robots.

You can get more information about Navigation tuning from Basic Navigation Tuning Guide, ROS Navigation Tuning Guide by Kaiyu Zheng, and the chapter 11 of ROS Robot Programming book.

inflation_radius

Defined in turtlebot3_navigation/param/costmap_common_param_${TB3_MODEL}.yaml
This parameter makes inflation area from the obstacle. Path would be planned in order that it don’t across this area. It is safe that to set this to be bigger than robot radius. For more information, please refer to the costmap_2d wiki.

cost_scaling_factor

Defined in turtlebot3_navigation/param/costmap_common_param_${TB3_MODEL}.yaml
This factor is multiplied by cost value. Because it is an reciprocal propotion, this parameter is increased, the cost is decreased.

The best path is for the robot to pass through a center of between obstacles. Set this factor to be smaller in order to far from obstacles.

max_vel_x

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
This factor is set the maximum value of translational velocity.

min_vel_x

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
This factor is set the minimum value of translational velocity. If set this negative, the robot can move backwards.

max_trans_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the maximum translational velocity. The robot can not be faster than this.

min_trans_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the minimum translational velocity. The robot can not be slower than this.

max_rot_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the maximum rotational velocity. The robot can not be faster than this.

min_rot_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the minimum rotational velocity. The robot can not be slower than this.

acc_lim_x

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the translational acceleration limit.

acc_lim_theta

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the rotational acceleration limit.

xy_goal_tolerance

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
The x,y distance allowed when the robot reaches its goal pose.

yaw_goal_tolerance

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
The yaw angle allowed when the robot reaches its goal pose.

sim_time

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
This factor is set forward simulation in seconds. Too low value is in sufficient time to pass narrow area and too high value is not allowed rapidly rotates. You can watch defferences of length of the yellow line in below image.

Navigation stack has many parameters to change performances for different robots.

You can get more information about Navigation tuning from Basic Navigation Tuning Guide, ROS Navigation Tuning Guide by Kaiyu Zheng, and the chapter 11 of ROS Robot Programming book.

inflation_radius

Defined in turtlebot3_navigation/param/costmap_common_param_${TB3_MODEL}.yaml
This parameter makes inflation area from the obstacle. Path would be planned in order that it don’t across this area. It is safe that to set this to be bigger than robot radius. For more information, please refer to the costmap_2d wiki.

cost_scaling_factor

Defined in turtlebot3_navigation/param/costmap_common_param_${TB3_MODEL}.yaml
This factor is multiplied by cost value. Because it is an reciprocal propotion, this parameter is increased, the cost is decreased.

The best path is for the robot to pass through a center of between obstacles. Set this factor to be smaller in order to far from obstacles.

max_vel_x

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
This factor is set the maximum value of translational velocity.

min_vel_x

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
This factor is set the minimum value of translational velocity. If set this negative, the robot can move backwards.

max_trans_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the maximum translational velocity. The robot can not be faster than this.

min_trans_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the minimum translational velocity. The robot can not be slower than this.

max_rot_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the maximum rotational velocity. The robot can not be faster than this.

min_rot_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the minimum rotational velocity. The robot can not be slower than this.

acc_lim_x

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the translational acceleration limit.

acc_lim_theta

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the rotational acceleration limit.

xy_goal_tolerance

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
The x,y distance allowed when the robot reaches its goal pose.

yaw_goal_tolerance

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
The yaw angle allowed when the robot reaches its goal pose.

sim_time

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
This factor is set forward simulation in seconds. Too low value is in sufficient time to pass narrow area and too high value is not allowed rapidly rotates. You can watch defferences of length of the yellow line in below image.

Navigation2 stack has many parameters to change performances for different robots. Although it’s similar to the ROS1 Navigation, please refer to the Configuration Guide of Navigation2 or ROS Navigation Tuning Guide by Kaiyu Zheng for more details.

Costmap Parameters

inflation_layer.inflation_radius

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This parameter makes inflation area from the obstacle. Path would be planned in order that it does not across this area. It is safe that to set this to be bigger than robot radius. For more information, please refer to the costmap_2d wiki.

inflation_layer.cost_scaling_factor

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This is an inverse proportional factor that is multiplied by the value of the costmap. If this parameter is increased, the value of the costmap is decreased.

The optimal path for the robot to pass through obstacles is to take a median path between them. Setting a smaller value for this parameter will create a farther path from the obstacles.

dwb_controller

max_vel_x

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This factor is set the maximum value of translational velocity.

min_vel_x

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This factor is set the minimum value of translational velocity. If set this negative, the robot can move backwards.

max_vel_y

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The maximum y velocity for the robot in m/s.

min_vel_y

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The minimum y velocity for the robot in m/s.

max_vel_theta

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
Actual value of the maximum rotational velocity. The robot can not be faster than this.

min_speed_theta

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
Actual value of the minimum rotational speed. The robot can not be slower than this.

max_speed_xy

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The absolute value of the maximum translational velocity for the robot in m/s.

min_speed_xy

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The absolute value of the minimum translational velocity for the robot in m/s.

acc_lim_x

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The x acceleration limit of the robot in meters/sec^2.

acc_lim_y

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The y acceleration limit of the robot in meters/sec^2.

acc_lim_theta

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The rotational acceleration limit of the robot in radians/sec^2.

decel_lim_x

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The deceleration limit of the robot in the x direction in m/s^2.

decel_lim_y

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The deceleration limit of the robot in the y direction in m/s^2.

decel_lim_theta

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The deceleration limit of the robot in the theta direction in rad/s^2.

xy_goal_tolerance

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The x,y distance allowed when the robot reaches its goal pose.

yaw_goal_tolerance

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The yaw angle allowed when the robot reaches its goal pose.

transform_tolerance

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
It allows the latency for tf messages.

sim_time

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This factor is set forward simulation in seconds. Setting this too small makes robot difficult to pass a narrow space while large value limits dynamic turns. You can observe the defferences of length of the yellow line in below image that represents the simulation path.

Costmap Parameters

inflation_layer.inflation_radius

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This parameter makes inflation area from the obstacle. Path would be planned in order that it does not across this area. It is safe that to set this to be bigger than robot radius. For more information, please refer to the costmap_2d wiki.

inflation_layer.cost_scaling_factor

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This is an inverse proportional factor that is multiplied by the value of the costmap. If this parameter is increased, the value of the costmap is decreased.

The optimal path for the robot to pass through obstacles is to take a median path between them. Setting a smaller value for this parameter will create a farther path from the obstacles.

dwb_controller

max_vel_x

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This factor is set the maximum value of translational velocity.

min_vel_x

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This factor is set the minimum value of translational velocity. If set this negative, the robot can move backwards.

max_vel_y

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The maximum y velocity for the robot in m/s.

min_vel_y

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The minimum y velocity for the robot in m/s.

max_vel_theta

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
Actual value of the maximum rotational velocity. The robot can not be faster than this.

min_speed_theta

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
Actual value of the minimum rotational speed. The robot can not be slower than this.

max_speed_xy

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The absolute value of the maximum translational velocity for the robot in m/s.

min_speed_xy

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The absolute value of the minimum translational velocity for the robot in m/s.

acc_lim_x

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The x acceleration limit of the robot in meters/sec^2.

acc_lim_y

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The y acceleration limit of the robot in meters/sec^2.

acc_lim_theta

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The rotational acceleration limit of the robot in radians/sec^2.

decel_lim_x

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The deceleration limit of the robot in the x direction in m/s^2.

decel_lim_y

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The deceleration limit of the robot in the y direction in m/s^2.

decel_lim_theta

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The deceleration limit of the robot in the theta direction in rad/s^2.

xy_goal_tolerance

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The x,y distance allowed when the robot reaches its goal pose.

yaw_goal_tolerance

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The yaw angle allowed when the robot reaches its goal pose.

transform_tolerance

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
It allows the latency for tf messages.

sim_time

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This factor is set forward simulation in seconds. Setting this too small makes robot difficult to pass a narrow space while large value limits dynamic turns. You can observe the defferences of length of the yellow line in below image that represents the simulation path.

Costmap Parameters

inflation_layer.inflation_radius

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This parameter makes inflation area from the obstacle. Path would be planned in order that it does not across this area. It is safe that to set this to be bigger than robot radius. For more information, please refer to the costmap_2d wiki.

inflation_layer.cost_scaling_factor

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This is an inverse proportional factor that is multiplied by the value of the costmap. If this parameter is increased, the value of the costmap is decreased.

The optimal path for the robot to pass through obstacles is to take a median path between them. Setting a smaller value for this parameter will create a farther path from the obstacles.

dwb_controller

max_vel_x

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This factor is set the maximum value of translational velocity.

min_vel_x

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This factor is set the minimum value of translational velocity. If set this negative, the robot can move backwards.

max_vel_y

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The maximum y velocity for the robot in m/s.

min_vel_y

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The minimum y velocity for the robot in m/s.

max_vel_theta

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
Actual value of the maximum rotational velocity. The robot can not be faster than this.

min_speed_theta

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
Actual value of the minimum rotational speed. The robot can not be slower than this.

max_speed_xy

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The absolute value of the maximum translational velocity for the robot in m/s.

min_speed_xy

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The absolute value of the minimum translational velocity for the robot in m/s.

acc_lim_x

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The x acceleration limit of the robot in meters/sec^2.

acc_lim_y

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The y acceleration limit of the robot in meters/sec^2.

acc_lim_theta

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The rotational acceleration limit of the robot in radians/sec^2.

decel_lim_x

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The deceleration limit of the robot in the x direction in m/s^2.

decel_lim_y

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The deceleration limit of the robot in the y direction in m/s^2.

decel_lim_theta

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The deceleration limit of the robot in the theta direction in rad/s^2.

xy_goal_tolerance

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The x,y distance allowed when the robot reaches its goal pose.

yaw_goal_tolerance

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
The yaw angle allowed when the robot reaches its goal pose.

transform_tolerance

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
It allows the latency for tf messages.

sim_time

Defined in turtlebot3_navigation2/param/${TB3_MODEL}.yaml
This factor is set forward simulation in seconds. Setting this too small makes robot difficult to pass a narrow space while large value limits dynamic turns. You can observe the defferences of length of the yellow line in below image that represents the simulation path.

Navigation stack has many parameters to change performances for different robots.

You can get more information about Navigation tuning from Basic Navigation Tuning Guide, ROS Navigation Tuning Guide by Kaiyu Zheng, and the chapter 11 of ROS Robot Programming book.

inflation_radius

Defined in turtlebot3_navigation/param/costmap_common_param_${TB3_MODEL}.yaml
This parameter makes inflation area from the obstacle. Path would be planned in order that it don’t across this area. It is safe that to set this to be bigger than robot radius. For more information, please refer to the costmap_2d wiki.

cost_scaling_factor

Defined in turtlebot3_navigation/param/costmap_common_param_${TB3_MODEL}.yaml
This factor is multiplied by cost value. Because it is an reciprocal propotion, this parameter is increased, the cost is decreased.

The best path is for the robot to pass through a center of between obstacles. Set this factor to be smaller in order to far from obstacles.

max_vel_x

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
This factor is set the maximum value of translational velocity.

min_vel_x

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
This factor is set the minimum value of translational velocity. If set this negative, the robot can move backwards.

max_trans_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the maximum translational velocity. The robot can not be faster than this.

min_trans_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the minimum translational velocity. The robot can not be slower than this.

max_rot_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the maximum rotational velocity. The robot can not be faster than this.

min_rot_vel

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the minimum rotational velocity. The robot can not be slower than this.

acc_lim_x

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the translational acceleration limit.

acc_lim_theta

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
Actual value of the rotational acceleration limit.

xy_goal_tolerance

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
The x,y distance allowed when the robot reaches its goal pose.

yaw_goal_tolerance

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
The yaw angle allowed when the robot reaches its goal pose.

sim_time

Defined in turtlebot3_navigation/param/dwa_local_planner_params_${TB3_MODEL}.yaml
This factor is set forward simulation in seconds. Too low value is in sufficient time to pass narrow area and too high value is not allowed rapidly rotates. You can watch defferences of length of the yellow line in below image.

Navigation

Run Navigation Nodes

Estimate Initial Pose

Set Navigation Goal

Tuning Guide

inflation_radius

cost_scaling_factor

max_vel_x

min_vel_x

max_trans_vel

min_trans_vel

max_rot_vel

min_rot_vel

acc_lim_x

acc_lim_theta

xy_goal_tolerance

yaw_goal_tolerance

sim_time

inflation_radius

cost_scaling_factor

max_vel_x

min_vel_x

max_trans_vel

min_trans_vel

max_rot_vel

min_rot_vel

acc_lim_x

acc_lim_theta

xy_goal_tolerance

yaw_goal_tolerance

sim_time

inflation_radius

cost_scaling_factor

max_vel_x

min_vel_x

max_trans_vel

min_trans_vel

max_rot_vel

min_rot_vel

acc_lim_x

acc_lim_theta

xy_goal_tolerance

yaw_goal_tolerance

sim_time

Costmap Parameters

inflation_layer.inflation_radius

inflation_layer.cost_scaling_factor

dwb_controller

max_vel_x

min_vel_x

max_vel_y

min_vel_y

max_vel_theta

min_speed_theta

max_speed_xy

min_speed_xy

acc_lim_x

acc_lim_y

acc_lim_theta

decel_lim_x

decel_lim_y

decel_lim_theta

xy_goal_tolerance

yaw_goal_tolerance

transform_tolerance

sim_time

Costmap Parameters

inflation_layer.inflation_radius

inflation_layer.cost_scaling_factor

dwb_controller

max_vel_x

min_vel_x

max_vel_y

min_vel_y

max_vel_theta

min_speed_theta

max_speed_xy

min_speed_xy

acc_lim_x

acc_lim_y