added minimal nav2 config

src/subsystems/navigation/athena_planner/behavior_trees/navigate_minimal.xml

@@ -0,0 +1,18 @@
+<!--
+  Minimal behavior tree for ackermann navigation.
+  Plans a path at 5 Hz and follows it. On failure, waits 5s then retries.
+-->
+
+<root main_tree_to_execute="MainTree">
+  <BehaviorTree ID="MainTree">
+    <RecoveryNode number_of_retries="3" name="NavigateRecovery">
+      <PipelineSequence name="NavigateWithReplanning">
+        <RateController hz="5.0">
+          <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
+        </RateController>
+        <FollowPath path="{path}" controller_id="FollowPath"/>
+      </PipelineSequence>
+      <Wait wait_duration="5.0"/>
+    </RecoveryNode>
+  </BehaviorTree>
+</root>

src/subsystems/navigation/athena_planner/config/nav2_params_minimal.yaml

@@ -0,0 +1,155 @@
+bt_navigator:
+  ros__parameters:
+    use_sim_time: false
+    global_frame: map
+    robot_base_frame: base_footprint
+    odom_topic: /localization/odom
+    bt_loop_duration: 100
+    default_server_timeout: 20
+    plugin_lib_names:
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_recovery_node_bt_node
+
+planner_server:
+  ros__parameters:
+    use_sim_time: false
+    expected_planner_frequency: 1.0
+    planner_plugins: ["GridBased"]
+
+    GridBased:
+      plugin: "nav2_smac_planner/SmacPlannerHybrid"
+      tolerance: 0.5
+      downsample_costmap: false
+      downsampling_factor: 1
+      allow_unknown: true
+      max_iterations: 1000000
+      max_planning_time: 7.5
+
+      motion_model_for_search: "REEDS_SHEPP"
+      angle_quantization_bins: 72
+      analytic_expansion_ratio: 3.5
+      analytic_expansion_max_length: 3.0
+      minimum_turning_radius: 1.5
+      reverse_penalty: 2.5
+      change_penalty: 0.5
+      non_straight_penalty: 1.4
+      cost_penalty: 2.0
+      retrospective_penalty: 0.1
+
+      lookup_table_size: 20.0
+      cache_obstacle_heuristic: false
+      smooth_path: true
+
+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
+    odom_topic: /localization/odom
+    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: 0.5
+      yaw_goal_tolerance: 0.3
+
+    FollowPath:
+      plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
+      desired_linear_vel: 1.0
+      lookahead_dist: 2.5
+      min_lookahead_dist: 1.5
+      max_lookahead_dist: 4.0
+      lookahead_time: 1.5
+      rotate_to_heading_angular_vel: 0.3
+      transform_tolerance: 0.5
+      use_velocity_scaled_lookahead_dist: true
+      min_approach_linear_velocity: 0.15
+      approach_velocity_scaling_dist: 1.5
+      use_collision_detection: true
+      max_allowed_time_to_collision_up_to_carrot: 1.0
+      use_regulated_linear_velocity_scaling: true
+      use_cost_regulated_linear_velocity_scaling: true
+      regulated_linear_scaling_min_radius: 1.5
+      regulated_linear_scaling_min_speed: 0.25
+      use_rotate_to_heading: false
+      allow_reversing: true
+      rotate_to_heading_min_angle: 0.785
+      max_linear_accel: 1.0
+      max_linear_decel: 1.5
+      max_angular_accel: 1.2
+      max_robot_pose_search_dist: 10.0
+      use_interpolation: true
+
+behavior_server:
+  ros__parameters:
+    use_sim_time: false
+    global_frame: map
+    robot_base_frame: base_footprint
+    transform_tolerance: 0.5
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 0.3
+    min_rotational_vel: 0.05
+    rotational_acc_lim: 0.8
+
+    behavior_plugins: ["wait"]
+    wait:
+      plugin: "nav2_behaviors/Wait"
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      use_sim_time: false
+      robot_base_frame: base_footprint
+      global_frame: map
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      resolution: 0.1
+      width: 100
+      height: 100
+      rolling_window: true
+      track_unknown_space: false
+      always_send_full_costmap: true
+      footprint: "[[0.45, 0.33], [0.45, -0.33], [-0.35, -0.33], [-0.35, 0.33]]"
+      plugins: []
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      use_sim_time: false
+      global_frame: map
+      robot_base_frame: base_footprint
+      update_frequency: 10.0
+      publish_frequency: 5.0
+      rolling_window: true
+      width: 8
+      height: 8
+      resolution: 0.05
+      transform_tolerance: 0.3
+      footprint: "[[0.45, 0.33], [0.45, -0.33], [-0.35, -0.33], [-0.35, 0.33]]"
+      plugins: []
+
+lifecycle_manager:
+  ros__parameters:
+    use_sim_time: false
+    autostart: true
+    node_names:
+      - controller_server
+      - planner_server
+      - behavior_server
+      - bt_navigator

src/subsystems/navigation/athena_planner/launch/navigation.launch.py

@@ -33,8 +33,17 @@ def generate_launch_description():
     default_params = PathJoinSubstitution([
         FindPackageShare('athena_planner'), 'config', 'nav2_params.yaml'
     ])
+    minimal_params = PathJoinSubstitution([
+        FindPackageShare('athena_planner'), 'config', 'nav2_params_minimal.yaml'
+    ])
 
     sim = LaunchConfiguration('sim')
+    use_minimal = LaunchConfiguration('use_minimal')
+
+    selected_params = PythonExpression([
+        "'", minimal_params, "' if '", use_minimal, "' == 'true' else '", default_params, "'"
+    ])
+
     params_file = LaunchConfiguration('params_file')
     use_respawn = LaunchConfiguration('use_respawn')
     log_level = LaunchConfiguration('log_level')
@@ -129,7 +138,12 @@ def generate_launch_description():
             description='Set true when running in Gazebo simulation (enables sim time and sensor bridges)',
         ),
         DeclareLaunchArgument(
-            'params_file', default_value=default_params,
+            'use_minimal', default_value='false',
+            choices=['true', 'false'],
+            description='Use minimal Nav2 config for ackermann testing (empty costmaps, basic BT)',
+        ),
+        DeclareLaunchArgument(
+            'params_file', default_value=selected_params,
             description='Full path to the Nav2 params YAML',
         ),
         DeclareLaunchArgument('map_frame', default_value='map'),