Sim fine tune #112

jerinpeter · 2025-12-12T19:13:38Z

This pull request introduces several important updates to the simulation and navigation stack for the Go2 robot. The main changes include adding an ArUco marker model to the simulation, updating the launch process to include this marker, and extensive tuning of navigation and gait parameters for improved robot performance and simulation fidelity.

Simulation and Launch Enhancements:

Added a new aruco_marker model (with model.sdf and model.config) for use as a docking target in simulation. The marker includes a visual texture and is placed in the simulation world. [1] [2]
Updated the launch file (go2_launch.py) to:
- Set the GZ_SIM_RESOURCE_PATH environment variable so Gazebo can find custom models.
- Spawn the new ArUco marker at a fixed position in the simulated world.
- Change the default world from maze_world.sdf to home_world.sdf. [1] [2] [3] [4]
Modified the CMake install rules to ensure models and tags directories are installed with the package, making custom assets available in deployments.

Navigation Parameter Tuning:

Substantial tuning of nav2_params.yaml:
- Increased transform tolerances and timeouts across navigation servers for improved robustness.
- Adjusted controller, planner, and costmap parameters for better path following, obstacle avoidance, and overall navigation performance.
- Refined MPPI controller and critic weights for smoother, safer, and more reliable robot motion.
- Updated local and global costmap settings for more accurate obstacle representation and footprint handling. [1] [2] [3] [4] [5] [6] [7] [8] [9]

Gait and Motion Constraints:

Increased maximum linear and angular velocities in the gait configuration to allow faster and more agile robot movement in simulation.

Simulation and Asset Management:

Added ArUco marker model files (model.sdf, model.config) and ensured their installation and availability in Gazebo simulation. [1] [2] [3]
Updated launch logic to include the ArUco marker in the simulation and set up model search paths. [1] [2] [3] [4]

Navigation Stack Tuning:

Tuned transform tolerances, controller frequencies, critic weights, costmap sizes, and velocities for improved navigation reliability and performance. [1] [2] [3] [4] [5] [6] [7] [8] [9]

Gait Configuration:

Increased gait velocity limits to allow for faster simulated robot movement.

… navigation

…it params

…iles to use sim params if use_sim is true

… files for sim

* Override param * Improve parameters overwritten

openminddev · 2025-12-12T20:02:02Z

go2_sdk/config/nav2_params_sim.yaml

Please remove this

openminddev · 2025-12-12T20:03:51Z

go2_gazebo_sim/go2_gazebo_sim/launch/go2_launch.py

+
+    # Add go2_description/models to GZ_SIM_RESOURCE_PATH


Suggested change

# Add go2_description/models to GZ_SIM_RESOURCE_PATH

openminddev · 2025-12-12T20:04:03Z

go2_gazebo_sim/go2_gazebo_sim/launch/go2_launch.py

+
+    # Ensure GZ_SIM_RESOURCE_PATH includes the models directory


Suggested change

# Ensure GZ_SIM_RESOURCE_PATH includes the models directory

openminddev · 2025-12-12T20:04:23Z

go2_gazebo_sim/go2_gazebo_sim/launch/go2_launch.py


+    # Spawn ArUco Marker
+    # We use the absolute path to the model.sdf to avoid model:// URI resolution issues
+    aruco_model_path = os.path.join(go2_description, "models/aruco_marker/model.sdf")


Please move it to the top

openminddev · 2025-12-12T20:04:52Z

go2_sdk/config/nav2_params.yaml

      resolution: 0.05
-      footprint: "[[0.3, 0.2], [0.3, -0.2], [-0.3, -0.2], [-0.3, 0.2]]"
+      transform_tolerance: 1.0
+      # Slightly smaller footprint to prevent self-collision in costmap


Please remove this

openminddev · 2025-12-12T20:05:07Z

go2_sdk/config/nav2_params.yaml

      use_sim_time: False
-      footprint: "[[0.3, 0.2], [0.3, -0.2], [-0.3, -0.2], [-0.3, 0.2]]"
+      transform_tolerance: 1.0
+      # Slightly smaller footprint


Please remove this

Copilot

Pull request overview

This PR enhances the Go2 robot simulation by adding ArUco marker support for docking, switching to a new world environment, and extensively tuning navigation parameters for improved performance. The changes introduce simulation-specific parameter overrides to optimize behavior in simulation while maintaining separate configurations for real hardware deployment.

Added ArUco marker model for docking simulation
Switched default world from maze_world.sdf to home_world.sdf
Implemented simulation-specific navigation parameter overrides in launch files
Tuned navigation stack parameters for better path following and obstacle avoidance
Increased gait velocity limits for faster simulated movement

Reviewed changes

Copilot reviewed 9 out of 11 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
go2_sdk/launch/slam_launch.py	Added simulation parameter override system with tuned controller, planner, and velocity smoother settings
go2_sdk/launch/nav2_launch.py	Implemented identical simulation override mechanism for navigation launch
go2_sdk/config/nav2_params_sim.yaml	New comprehensive simulation-specific navigation configuration file
go2_sdk/config/nav2_params.yaml	Updated base navigation parameters with adjusted tolerances, velocities, and critic weights
go2_gazebo_sim/go2_gazebo_sim/launch/go2_launch.py	Changed default world, added ArUco marker spawning, and configured Gazebo resource paths
go2_gazebo_sim/go2_gazebo_sim/config/gait/gait.yaml	Increased maximum linear and angular velocity limits
go2_gazebo_sim/go2_description/models/aruco_marker/model.sdf	ArUco marker model definition for simulation
go2_gazebo_sim/go2_description/models/aruco_marker/model.config	ArUco marker metadata configuration
go2_gazebo_sim/go2_description/CMakeLists.txt	Added installation rules for models and tags directories

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Copilot · 2025-12-12T21:15:02Z

go2_sdk/launch/slam_launch.py

+        "inflation_layer.inflation_radius": 0.30,
+    },
+    "planner_server": {
+        # globl costmap params


Corrected spelling of 'globl' to 'global'.

Suggested change

# globl costmap params

# global costmap params

Copilot · 2025-12-12T21:15:02Z

go2_sdk/launch/nav2_launch.py

+        "inflation_layer.inflation_radius": 0.30,
+    },
+    "planner_server": {
+        # globl costmap params


Corrected spelling of 'globl' to 'global'.

Suggested change

# globl costmap params

# global costmap params

Copilot · 2025-12-12T21:15:03Z

go2_gazebo_sim/go2_description/CMakeLists.txt

+install(DIRECTORY
+  models
+  DESTINATION
+  share/${PROJECT_NAME})


The models directory is installed twice (lines 29-32 and 34-37). Remove the duplicate installation directive to avoid redundancy.

Suggested change

install(DIRECTORY

models

DESTINATION

share/${PROJECT_NAME})

…ic battery drain and `/lf/lowstate` publishing.

openminddev · 2025-12-12T23:56:42Z

go2_gazebo_sim/go2_gazebo_sim/go2_gazebo_sim/go2_lowstate.py

+"""
+A ROS2 node that publishes mock LowState messages for Unitree Go2 simulation.
+This provides simulated robot state data including IMU, motor, and battery information.
+Battery simulation auto-detects movement from cmd_vel for realistic drain behavior.
+"""


Please remove this

openminddev · 2025-12-12T23:57:01Z

go2_gazebo_sim/go2_gazebo_sim/launch/go2_launch.py

+
+    # Add go2_description/models to GZ_SIM_RESOURCE_PATH


Suggested change

# Add go2_description/models to GZ_SIM_RESOURCE_PATH

…ile.

…e functionality with lowstate

jerinpeter and others added 8 commits December 10, 2025 14:29

added april tags, home world and fine tuned nav param for tight space…

7719453

… navigation

Add simulation navigation parameters and update home_world sdf and ga…

7848c60

…it params

Update Nav params for real robot, cleanup world file, update launch f…

14a9a70

…iles to use sim params if use_sim is true

Integrate Nav2 stack with dynamic simulation parameter overrides for sim

48b9e7f

Lint Fixes

a1aee62

Add global costmap inflation parameters to navigation and SLAM launch…

8653887

… files for sim

fix: remove orphaned m-explore-ros2 submodule reference

45d69b1

Param override (#113)

97431d4

* Override param * Improve parameters overwritten

openminddev reviewed Dec 12, 2025

View reviewed changes

openminddev requested a review from Copilot December 12, 2025 21:14

Copilot AI reviewed Dec 12, 2025

View reviewed changes

jerinpeter added 3 commits December 12, 2025 14:08

Fix navigation launch typos, and remove unused nav2 sim parameters.

b2f6e70

Fix lint

b7b144e

Refactor battery monitor, and enhance low state simulation with dynam…

04a87b1

…ic battery drain and `/lf/lowstate` publishing.

openminddev approved these changes Dec 12, 2025

View reviewed changes

jerinpeter added 2 commits December 12, 2025 16:00

Remove unnecessary comments from Go2 low state publisher and launch f…

280466c

…ile.

remove mock battery publisher for Go2 Gazebo simulation and merged th…

fc887d2

…e functionality with lowstate

Sim fine tune #112

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Sim fine tune #112

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jerinpeter commented Dec 12, 2025

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Pull request overview

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