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core_parameters.md

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Core parameters

This document summarizes the main runtime parameters currently used by the hardware interface and the Nav2 integration.

Hardware interface parameters

The hardware interface is configured from amr_ros/config/parameters.yaml.

Robot connection

  • robot.ip: robot controller IP address
  • robot.port: controller port
  • robot.user: login user
  • robot.password: login password
  • robot.protocol: ARCL protocol profile

Status publishing

  • status.publish: enables the status interface and battery publisher
  • status.topic: robot status topic
  • status.battery_topic: battery state topic
  • status.publish_period_ms: status publish period in milliseconds

Laser scan publishing

  • laser.main_laser.enabled: enables the primary front laser publisher
  • laser.main_laser.*: primary front safety laser configuration for /scan
  • laser.low_laser.enabled: enables the low front laser publisher
  • laser.low_laser.*: low front laser configuration for /scan_low
  • Each laser block exposes topic, frame_id, request, request_period_ms, angle_min, angle_max, angle_increment, range_min, and range_max

The published angle_increment is derived from the configured angular span and the number of points received in each packet. The configured angle_increment acts as a fallback when the packet does not contain enough points to infer a step size.

Driver interface

  • driver.odom_topic: odometry topic, currently /odom
  • driver.cmd_vel_topic: velocity command topic, currently /cmd_vel
  • driver.stop_topic: stop topic
  • driver.publish_odom: enables odometry publication from amr_core
  • driver.publish_robot_tf: enables TF publication from amr_core
  • driver.odom_frame: odom frame name
  • driver.base_frame: base frame name
  • driver.expected_cmd_vel_freq: expected command rate used by the cmd_vel watchdog timer
  • driver.min_linear_speed: minimum linear speed in mm/s
  • driver.max_linear_speed: maximum linear speed in mm/s
  • driver.min_angular_speed: minimum angular speed in deg/s
  • driver.max_angular_speed: maximum angular speed in deg/s
  • driver.drive_throttle_pct: throttle scaling
  • driver.unsafe_drive: enables unsafe drive mode
  • driver.cmd_vel_timeout_sec: watchdog timeout for velocity commands

Derived Nav2 limits

The Nav2 YAML files were updated to match the driver limits as closely as possible:

  • max forward linear velocity: 1.2 m/s
  • max reverse linear velocity: -0.2 m/s
  • max angular velocity: 1.0472 rad/s

These values appear in:

  • controller_server.FollowPath
  • behavior_server
  • velocity_smoother

Nav2 parameter files

Per-robot Nav2 parameters live in:

  • amr_nav2/config/ld90_nav2.yaml
  • amr_nav2/config/ld250_nav2.yaml

These files now include:

  • driver-aligned velocity limits
  • /odom as the odometry topic for Nav2 components
  • per-robot footprint geometry derived from the robot dimensions

Footprint values

LD250

The Nav2 footprint is set to:

[[0.475, 0.348], [0.475, -0.348], [-0.475, -0.348], [-0.475, 0.348]]

This matches the dimensions documented in the LD250 URDF comments.

LD90

The Nav2 footprint is set to:

[[0.35, 0.25], [0.35, -0.25], [-0.35, -0.25], [-0.35, 0.25]]

This matches the dimensions documented in the LD90 xacro comments.

Map parameter handling

The top-level map:=... launch argument is a filename, not a full path.

Example:

ros2 launch amr_ros ld250.launch.py use_nav2:=true use_localization:=true map:=warehouse.yaml

This resolves to:

amr_nav2/maps/warehouse.yaml

The corresponding occupancy image file referenced by that YAML must be present alongside it in the same maps directory.