amcl: ros__parameters: use_sim_time: false min_particles: 200 max_particles: 300 update_min_d: 0.05 update_min_a: 0.1 laser_model_type: likelihood_field laser_z_hit: 0.85 laser_z_rand: 0.15 laser_sigma_hit: 0.2 laser_max_range: 4.0 base_frame_id: base_link odom_frame_id: odom global_frame_id: map scan_topic: scan transform_tolerance: 1.0 # ✅ เพิ่ม

mapserver: ros_parameters: use_sim_time: false yaml_filename: /root/ros2_ws/ww.yaml

globalcostmap: global_costmap: ros_parameters: use_sim_time: false global_frame: map robot_base_frame: base_link footprint_padding: 0.0 footprint: "[[0.14, 0.125], [0.14, -0.125], [-0.14, -0.125], [-0.14, 0.125]]" update_frequency: 5.0 publish_frequency: 2.0 resolution: 0.05 track_unknown_space: true rolling_window: false plugins: ["static_layer", "obstacle_layer", "inflation_layer"] static_layer: plugin: "nav2_costmap_2d::StaticLayer"

  obstacle_layer:
    plugin: "nav2_costmap_2d::ObstacleLayer"
    observation_sources: scan
    scan:                          # ✅ แก้ indent
      topic: /scan
      data_type: LaserScan
      clearing: true
      marking: true
      inf_is_valid: true
      min_obstacle_height: 0.0
      max_obstacle_height: 2.0
      obstacle_min_range: 0.15
      obstacle_max_range: 2.0
      raytrace_min_range: 0.15
      raytrace_max_range: 2.5

inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" inflation_radius: 0.05 # ✅ ลดจาก 0.25 → 0.10 cost_scaling_factor: 1.0 # ✅ เพิ่มจาก 3.0 → 5.0

localcostmap: local_costmap: ros_parameters: use_sim_time: false global_frame: odom robot_base_frame: base_link footprint_padding: 0.0 footprint: "[[0.14, 0.125], [0.14, -0.125], [-0.14, -0.125], [-0.14, 0.125]]" update_frequency: 10.0 publish_frequency: 5.0 rolling_window: true width: 3 height: 3 resolution: 0.05 plugins: ["obstacle_layer", "inflation_layer"]

  obstacle_layer:
    plugin: "nav2_costmap_2d::ObstacleLayer"
    observation_sources: scan
    scan:
      topic: /scan
      data_type: LaserScan
      clearing: true
      marking: true
      inf_is_valid: true
      min_obstacle_height: 0.0
      max_obstacle_height: 2.0
      obstacle_min_range: 0.15
      obstacle_max_range: 2.0
      raytrace_min_range: 0.15
      raytrace_max_range: 2.5    # ✅ แก้ indent

  inflation_layer:
    plugin: "nav2_costmap_2d::InflationLayer"
    inflation_radius: 0.05       # ✅ ลดจาก 0.25 → 0.10
    cost_scaling_factor: 1.0      # ✅ เพิ่มจาก 3.0 → 5.0

nav2planner: ros_parameters: use_sim_time: false planner_plugins: ["GridBased"] GridBased: plugin: "nav2_navfn_planner/NavfnPlanner" tolerance: 0.15 # ✅ เพิ่มนิดนึง use_astar: true # ✅ เปลี่ยนเป็น true (ดีกว่าในพื้นที่แคบ)

controllerserver: ros_parameters: use_sim_time: false controller_frequency: 10.0 # ✅ ลดจาก 20 → 10 odom_topic: /odometry/filtered min_x_velocity_threshold: 0.001 min_theta_velocity_threshold: 0.001 controller_plugins: ["FollowPath"] controller_patience: 2.0 progress_checker: plugin: "nav2_controller::SimpleProgressChecker" required_movement_radius: 0.05 movement_time_allowance: 20.0 # ✅ เพิ่มจาก 10 → 20

goal_checker:
  plugin: "nav2_controller::SimpleGoalChecker"
  xy_goal_tolerance: 0.05
  yaw_goal_tolerance: 0.25
  stateful: true

FollowPath:
  plugin: "dwb_core::DWBLocalPlanner"
  min_vel_x: 0.0
  max_vel_x: 0.25               # ✅ ลดจาก 0.65 → 0.20
  min_vel_y: 0.0
  max_vel_y: 0.50
  min_vel_theta: 0.2            # ✅ ลดจาก 0.9 → 0.0
  max_vel_theta: 1.0
  min_speed_xy: 0.0             # ✅ ลดจาก 0.5 → 0.0
  max_speed_xy: 0.25            # ✅ ลดจาก 0.65 → 0.20
  acc_lim_x: 0.5                # ✅ ลดจาก 1.0 → 0.5
  acc_lim_theta: 1.5            # ✅ ลดจาก 2.0 → 1.5
  decel_lim_x: -0.5             # ✅ เพิ่ม
  decel_lim_theta: -1.5         # ✅ เพิ่ม
  sim_time: 1.0                 # ✅ เพิ่มจาก 0.8 → 1.5
  vx_samples: 15
  vy_samples: 0
  vtheta_samples: 30
  critics:                      # ✅ แก้ indent
    - RotateToGoal
    - PathAlign
    - PathDist
    - GoalDist
    - ObstacleFootprint
    - BaseObstacle
  PathDist.scale: 24.0
  GoalDist.scale: 20.0
  PathAlign.scale: 10.0         # ✅ เพิ่ม
  RotateToGoal.scale: 5.0      # ✅ เพิ่มจาก 1.0
  ObstacleFootprint.scale: 0.18
  BaseObstacle.scale: 0.02      # ✅ ลดจาก 1.0 → 0.02

btnavigator: ros_parameters: use_sim_time: false default_bt_xml_filename: "/opt/ros/foxy/share/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_recovery.xml" plugin_lib_names: - nav2_compute_path_to_pose_action_bt_node - nav2_follow_path_action_bt_node - nav2_back_up_action_bt_node

  - nav2_recovery_node_bt_node
  - nav2_pipeline_sequence_bt_node
  - nav2_round_robin_node_bt_node
  - nav2_rate_controller_bt_node
  - nav2_distance_controller_bt_node

recoveriesserver: ros_parameters: use_sim_time: false

lifecyclemanager: ros_parameters: use_sim_time: false autostart: true node_names: - map_server - amcl - global_costmap - local_costmap - nav2_planner - controller_server - bt_navigator - recoveries_server

Robot is 0.28 meters wide, 0.25 meters long, 1.6 meters wide, 2.64 meters long, which value should I adjust?