# Nav2 parameters for real-robot RTAB-Map + Nav2 (no AMCL).
# map→odom comes from RTAB-Map. Used by agenticros_bringup/rtabmap_nav2.launch.py.
# Pass use_sim_time:=true on that launch file when running under Gazebo.

amcl:
  ros__parameters:
    use_sim_time: false
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: base_footprint
    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
    laser_likelihood_max_dist: 2.0
    laser_max_range: 12.0
    laser_min_range: 0.12
    laser_model_type: likelihood_field
    max_beams: 60
    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: 1
    robot_model_type: nav2_amcl::DifferentialMotionModel
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan
    set_initial_pose: true
    initial_pose:
      x: 0.0
      y: 0.0
      z: 0.0
      yaw: 0.0

bt_navigator:
  ros__parameters:
    use_sim_time: false
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    wait_for_service_timeout: 1000
    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
      - nav2_is_battery_charging_condition_bt_node

bt_navigator_navigate_through_poses_rclcpp_node:
  ros__parameters:
    use_sim_time: false

bt_navigator_navigate_to_pose_rclcpp_node:
  ros__parameters:
    use_sim_time: false

controller_server:
  ros__parameters:
    use_sim_time: false
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    failure_tolerance: 0.3
    progress_checker_plugin: "progress_checker"
    progress_checker_plugins: ["progress_checker"]
    goal_checker_plugins: ["general_goal_checker"]
    controller_plugins: ["FollowPath"]
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    general_goal_checker:
      stateful: true
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
    # DWB (default Nav2 humble) — RPP was failing configure with
    # "No critics defined for FollowPath" on this install.
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: false
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 0.65
      max_vel_y: 0.0
      max_vel_theta: 1.0
      min_speed_xy: 0.0
      max_speed_xy: 0.65
      min_speed_theta: 0.0
      acc_lim_x: 2.5
      acc_lim_y: 0.0
      acc_lim_theta: 3.2
      decel_lim_x: -2.5
      decel_lim_y: 0.0
      decel_lim_theta: -3.2
      vx_samples: 20
      vy_samples: 0
      vtheta_samples: 20
      sim_time: 1.7
      linear_granularity: 0.05
      angular_granularity: 0.025
      transform_tolerance: 0.2
      xy_goal_tolerance: 0.25
      trans_stopped_velocity: 0.25
      short_circuit_trajectory_evaluation: true
      stateful: true
      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
      BaseObstacle.scale: 0.02
      PathAlign.scale: 32.0
      PathAlign.forward_point_distance: 0.1
      GoalAlign.scale: 24.0
      GoalAlign.forward_point_distance: 0.1
      PathDist.scale: 32.0
      GoalDist.scale: 24.0
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0

local_costmap:
  local_costmap:
    ros__parameters:
      use_sim_time: false
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.28
      # No lidar on this robot — obstacles come from RTAB-Map /map via
      # the global static layer. Local map is inflation-only for now.
      plugins: [inflation_layer]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      always_send_full_costmap: true

global_costmap:
  global_costmap:
    ros__parameters:
      use_sim_time: false
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      robot_radius: 0.28
      resolution: 0.05
      track_unknown_space: true
      plugins: [static_layer, inflation_layer]
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: true
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      always_send_full_costmap: true

map_server:
  ros__parameters:
    use_sim_time: false
    yaml_filename: ""

map_saver:
  ros__parameters:
    use_sim_time: false
    save_map_timeout: 5.0
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: true

planner_server:
  ros__parameters:
    use_sim_time: false
    expected_planner_frequency: 20.0
    planner_plugins: [GridBased]
    GridBased:
      plugin: nav2_navfn_planner/NavfnPlanner
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

smoother_server:
  ros__parameters:
    use_sim_time: false
    smoother_plugins: [simple_smoother]
    simple_smoother:
      plugin: nav2_smoother::SimpleSmoother
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: true

behavior_server:
  ros__parameters:
    use_sim_time: false
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: [spin, backup, drive_on_heading, assisted_teleop, wait]
    spin:
      plugin: nav2_behaviors/Spin
    backup:
      plugin: nav2_behaviors/BackUp
    drive_on_heading:
      plugin: nav2_behaviors/DriveOnHeading
    wait:
      plugin: nav2_behaviors/Wait
    assisted_teleop:
      plugin: nav2_behaviors/AssistedTeleop
    global_frame: odom
    robot_base_frame: base_link
    transform_tolerance: 0.1
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

waypoint_follower:
  ros__parameters:
    use_sim_time: false
    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

velocity_smoother:
  ros__parameters:
    use_sim_time: false
    smoothing_frequency: 20.0
    scale_velocities: false
    feedback: OPEN_LOOP
    max_velocity: [0.65, 0.0, 1.5]
    min_velocity: [-0.65, 0.0, -1.5]
    max_accel: [1.0, 0.0, 2.0]
    max_decel: [-1.0, 0.0, -2.0]
    odom_topic: odom
    odom_duration: 0.1
    deadband_velocity: [0.0, 0.0, 0.0]
    velocity_timeout: 1.0

# Jazzy navigation_launch.py always starts these. Empty sources: this robot
# has no lidar; RTAB-Map /map is the obstacle source (global static layer).
route_server:
  ros__parameters:
    use_sim_time: false
    operations: []
    edge_cost_functions: ["DistanceScorer"]
    DistanceScorer:
      plugin: "nav2_route::DistanceScorer"

collision_monitor:
  ros__parameters:
    use_sim_time: false
    base_frame_id: "base_link"
    odom_frame_id: "odom"
    cmd_vel_in_topic: "cmd_vel_smoothed"
    cmd_vel_out_topic: "cmd_vel"
    transform_tolerance: 0.2
    source_timeout: 2.0
    polygons: []
    observation_sources: []

docking_server:
  ros__parameters:
    use_sim_time: false
    controller_frequency: 20.0
    base_frame: "base_link"
    fixed_frame: "odom"
    dock_plugins: ["simple_charging_dock"]
    simple_charging_dock:
      plugin: "opennav_docking::SimpleChargingDock"
      docking_threshold: 0.05
      staging_x_offset: -0.7
      use_external_detection_pose: true
      use_battery_status: false
      use_stall_detection: false