Controller Server

Source code on Github.

The Controller Server implements the server for handling the controller requests for the stack and host a map of plugin implementations. It will take in path and plugin names for controller, progress checker and goal checker to use and call the appropriate plugins. It also hosts the local costmap.

Parameters

controller_frequency

Type	Default
double	20.0

Description

Frequency to run controller (Hz).

use_realtime_priority

Type	Default
bool	false

Description

Adds soft real-time prioritization to the controller server to better ensure resources to time sensitive portions of the codebase. This will set the controller’s execution thread to a higher priority than the rest of the system (90) to meet scheduling deadlines to have less missed loop rates. To use this feature, you use set the following inside of /etc/security/limits.conf to give userspace access to elevated prioritization permissions: <username> soft rtprio 99 <username> hard rtprio 99

publish_zero_velocity

Type	Default
bool	true

Description

Whether to publish a zero velocity command on goal exit. This is useful for stopping the robot when a goal terminates.

action_server_result_timeout

Type	Default	Unit
double	10.0	seconds

Description

The timeout value (in seconds) for action servers to discard a goal handle if a result has not been produced. This used to default to 15 minutes in rcl but was changed to 10 seconds in this PR #1012, which may be less than some actions in Nav2 take to run. For most applications, this should not need to be adjusted as long as the actions within the server do not exceed this deadline. This issue has been raised with OSRF to find another solution to avoid active goal timeouts for bookkeeping, so this is a semi-temporary workaround

controller_plugins

Type	Default
vector<string>	[‘FollowPath’]

Description

List of mapped names for controller plugins for processing requests and parameters.

Note

Each plugin namespace defined in this list needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.

Example:

controller_server:
  ros__parameters:
    controller_plugins: ["FollowPath"]
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"

progress_checker_plugins

Type	Default
vector<string>	[“progress_checker”]

Description

Mapped name for progress checker plugin for checking progress made by robot. Formerly progress_checker_plugin for Humble and older with a single string plugin.

Note

The plugin namespace defined needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.

Example:

controller_server:
  ros__parameters:
    progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"

goal_checker_plugins

Type	Default
vector<string>	[“goal_checker”]

Description

Mapped name for goal checker plugin for checking goal is reached. When the number of the plugins is more than 2, each FollowPath action needs to specify the goal checker plugin name with its goal_checker_id field.

Note

The plugin namespace defined needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.

Example:

controller_server:
  ros__parameters:
    goal_checker_plugins: ["goal_checker"]
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"

min_x_velocity_threshold

Type	Default
double	0.0001

Description

The controller server filters the velocity portion of the odometry messages received before sending them to the controller plugin. Odometry values below this threshold (in m/s) will be set to 0.0.

min_y_velocity_threshold

Type	Default
double	0.0001

Description

The controller server filters the velocity portion of the odometry messages received before sending them to the controller plugin. Odometry values below this threshold (in m/s) will be set to 0.0. For non-holonomic robots

min_theta_velocity_threshold

Type	Default
double	0.0001

Description

The controller server filters the velocity portion of the odometry messages received before sending them to the controller plugin. Odometry values below this threshold (in rad/s) will be set to 0.0.

failure_tolerance

Type	Default
double	0.0

Description

The maximum duration in seconds the called controller plugin can fail (i.e. the computeVelocityCommands function of the plugin throwing an exception) before the nav2_msgs::action::FollowPath action fails. Setting it to the special value of -1.0 makes it infinite, 0 to disable, and any positive value for the appropriate timeout.

speed_limit_topic

Type	Default
string	“speed_limit”

Description

Speed limiting topic name to subscribe. This could be published by Speed Filter (please refer to Speed Filter Parameters configuration page). You can also use this without the Speed Filter as well if you provide an external server to publish these messages.

odom_topic

Type	Default
string	“odom”

Description

Topic to get instantaneous measurement of speed from.

enable_stamped_cmd_vel

Type	Default
bool	true

Description

Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped velocity data. True uses TwistStamped, false uses Twist. Note: This parameter is default false in Jazzy or older! Kilted or newer uses TwistStamped by default.

bond_heartbeat_period

Type	Default
double	0.1

Description

The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.

Provided Plugins

The plugins listed below are inside the nav2_controller namespace.

• SimpleProgressChecker
• PoseProgressChecker
• SimpleGoalChecker
• StoppedGoalChecker

Default Plugins

When the progress_checker_plugins, goal_checker_plugin or controller_plugins parameters are not overridden, the following default plugins are loaded:

Namespace	Plugin
“progress_checker”	“nav2_controller::SimpleProgressChecker”
“goal_checker”	“nav2_controller::SimpleGoalChecker”
“FollowPath”	“dwb_core::DWBLocalPlanner”

Example

controller_server:
  ros__parameters:
    use_sim_time: True
    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
    odom_topic: "odom"
    progress_checker_plugins: ["progress_checker"] # progress_checker_plugin: "progress_checker" For Humble and older
    goal_checker_plugins: ["goal_checker"] # goal_checker_plugin: "goal_checker" For Galactic and older
    controller_plugins: ["FollowPath"]
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    goal_checker:
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
      stateful: True
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"