參考資料 : [ROS 2 導覽調整指南 – Nav2](https://automaticaddison.com/ros-2-navigation-tuning-guide-nav2/)

## AMCL

- alpha1~5: 0.01 `使amcl更信賴odom的資訊`
- laser_model_type: "likelihood_field_prob" `比較精準`
- max_particles: 2000 → 2500 `更多粒子數`
- min_particles: 500 → 1000 `更多粒子數`
- update_min_a: 0.2 → 0.05 `更新位姿（弧度）`
- update_min_d: 0.25 → 0.05 `更新位姿（米）`
- scan_topic: scan_hokuyo `topic 來源`

## controller_server: MPPI

- controller_frequency: 20.0 → 10.0 `電腦控制頻率跟不上`
- xy_goal_tolerance: 0.1 `剛好的裕度，著重於讓控制器再追準一點`
- yaw_goal_tolerance: 0.1 `剛好的裕度，著重於讓控制器再追準一點`
- model_dt: 0.05 → 0.1 `隨著控制頻率調整，相乘為1`
- ax_max: 3.0 `這裡有點怪，測試下來發現 cmd_vel 受限於這裡的速度，而不是 vx_max`
- ax_min: -1.8
- ay_max: 0.0
- ay_min: 0.0
- az_max: 3.5
- vx_std: 0.2
- vy_std: 0.0
- wz_std: 0.6
- vx_max: 0.5
- vx_min: -0.25
- vy_max: 0.0
- wz_max: 2.0
- AckermannConstraints.min_turning_r: 0.0 `非阿卡曼輪，不必考慮輪距`
- GoalCritic.cost_weight: 30 `更去靠近目標點`
- GoalAngleCritic.cost_weight: 10 `更去靠近目標點`
- PathAlignCritic.cost_weight: 10.0 `差異不大，可調可不調`
- PathAngleCritic.cost_weight: 2.2 `差異不大，可調可不調`

## local_costmap

- update_frequency: 15.0 `更新速度快一些`
- publish_frequency: 15.0
- width: 5 `包覆走廊`
- height: 5
- footprint: "[ [-0.41, -0.31], [-0.41, 0.31], [0.41, 0.31], [0.41, -0.31] ]" `車體大小`
- inflation_layer.cost_scaling_factor: 2.58 `文獻，走的會是直線`
- inflation_layer.inflation_radius: 1.75
- voxel_layer.raytrace_max_range: 5.0 `掃遠一點，清除殘留`
- voxel_layer.obstacle_max_range: 2.5

## global_costmap

- update_frequency: 15.0 `更新速度快一些`
- publish_frequency: 15.0
- footprint:"[ [-0.41, -0.31], [-0.41, 0.31], [0.41, 0.31], [0.41, -0.31] ]"
- inflation_layer.cost_scaling_factor: 2.58
- inflation_layer.inflation_radius: 1.75
- voxel_layer.raytrace_max_range: 5.0
- voxel_layer.obstacle_max_range: 2.5

## planner_server

- lugin: "nav2_theta_star_planner::ThetaStarPlanner" `比較平滑的路徑`
- how_many_corners: 8 `預設參數`
- w_euc_cost: 1.0
- w_traversal_cost: 2.0
- w_heuristic_cost: 1.0

## velocity_smoother: 根據所使用的來調整
- max_velocity: [0.5, 0.0, 3.0] ` x, y, z`
- min_velocity: [-0.35, 0.0, -3.0] ` x, y, z`
- max_accel: [3.0, 0.0, 5.2]
- max_decel: [-1.8, 0.0, -5.2]

## collision_monitor

- topic: "scan_hokuyo" `topic`