Try fix lidar port

mep3_behavior/strategies/big_blue.xml

@@ -2,26 +2,19 @@
 <root BTCPP_format="4">
   <BehaviorTree ID="big_blue">
     <SequenceWithMemory>
-      <WaitMatchStart state="2"/>
-      <Fallback>
-        <Move goal="0.4;0.4;0"
-              ignore_obstacles="false"
-              max_acceleration="0.5"
-              max_velocity="1.0"/>
-        <Repeat num_cycles="6">
-          <Sequence>
-            <Wait duration="0.5"/>
-            <Move goal="0.58;-0.43;0"
-                  ignore_obstacles="false"
-                  max_acceleration="0.5"
-                  max_velocity="1.0"/>
-          </Sequence>
-        </Repeat>
-        <Move goal="0.4;0.4;0"
-              ignore_obstacles="false"
-              max_acceleration="0.5"
-              max_velocity="1.0"/>
-      </Fallback>
+      <Wait duration="3"/>
+      <Move goal="0.4;0.4;0"
+            ignore_obstacles="false"
+            max_acceleration="0.5"
+            max_velocity="0.8"/>
+      <Move goal="0;0;0"
+            ignore_obstacles="false"
+            max_acceleration="0.5"
+            max_velocity="1.0"/>
+      <Move goal="0.4;0.4;0"
+            ignore_obstacles="false"
+            max_acceleration="0.5"
+            max_velocity="0.8"/>
     </SequenceWithMemory>
   </BehaviorTree>
 
@@ -41,11 +34,6 @@
             editable="true">
       <input_port name="duration"/>
     </Action>
-    <Action ID="WaitMatchStart"
-            editable="false">
-      <input_port name="state"
-                  default="2">0 = unarmed; 1 = armed; 2 = started</input_port>
-    </Action>
   </TreeNodesModel>
 
 </root>

mep3_hardware/launch/hardware_launch.py

@@ -32,6 +32,8 @@ def launch_setup(context, *args, **kwargs):
     namespace = LaunchConfiguration('namespace', default='big')
     performed_namespace = namespace.perform(context)
 
+    usb_port = '/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_9e82eec869f4c84fb1901fc50d00c93c-if00-port0' if performed_namespace == 'big' else '/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_0e10a6d7001d8f4fad5376bfd2f6f1ad-if00-port0'
+
     controller_params_file = os.path.join(package_dir, 'resource', f'{performed_namespace}_controllers.yaml')
     robot_description = pathlib.Path(os.path.join(package_dir, 'resource', f'{performed_namespace}_description.urdf')).read_text()
 
@@ -75,7 +77,7 @@ def launch_setup(context, *args, **kwargs):
         name='rplidar_ros',
         parameters=[{
             'frame_id': 'laser',
-            'serial_port': '/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_9e82eec869f4c84fb1901fc50d00c93c-if00-port0'
+            'serial_port': usb_port
         }],
         ros_arguments=['--log-level', 'warn'],
         output='screen',
@@ -87,7 +89,7 @@ def launch_setup(context, *args, **kwargs):
         executable='lcd_driver.py',
         output='screen',
         ros_arguments=['--log-level', 'warn'],
-        condition=IfCondition(PythonExpression(["'", namespace, "' == 'small'"]))
+        condition=IfCondition(PythonExpression(["'", namespace, "' == 'big'"]))
     )
 
     return [

mep3_navigation/params/nav2_params_small.yaml

@@ -1,6 +1,6 @@
 /small/bt_navigator:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: false
     global_frame: map
     robot_base_frame: base_link
     odom_topic: /small/odom
@@ -22,7 +22,7 @@
 
 /small/controller_server:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: false
     controller_frequency: 20.0
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
@@ -51,7 +51,7 @@
       min_lookahead_dist: 0.15
       max_lookahead_dist: 0.5
       lookahead_time: 0.625
-      rotate_to_heading_angular_vel: 15.0
+      rotate_to_heading_angular_vel: 5.0
       transform_tolerance: 0.1
       use_velocity_scaled_lookahead_dist: true
       min_approach_linear_velocity: 0.05
@@ -64,9 +64,9 @@
       allow_reversing: true
       use_rotate_to_heading: false
       use_rotate_to_goal: true
-      kp_angle: 6.0
+      kp_angle: 4.0
       rotate_to_heading_min_angle: 0.785
-      max_angular_accel: 15.0
+      max_angular_accel: 5.0
       cost_scaling_dist: 0.7
       cost_scaling_gain: 1.0
       inflation_cost_scaling_factor: 5.0
@@ -78,7 +78,7 @@
       publish_frequency: 5.0
       global_frame: odom
       robot_base_frame: base_link
-      use_sim_time: True
+      use_sim_time: false
       rolling_window: True
       width: 3
       height: 3
@@ -115,7 +115,7 @@
       publish_frequency: 2.0
       global_frame: map
       robot_base_frame: base_link
-      use_sim_time: True
+      use_sim_time: false
       rolling_window: True
       robot_radius: 0.2
       resolution: 0.07
@@ -162,7 +162,7 @@
 
 /small/planner_server:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: false
     planner_plugins: ["GridBased"]
     expected_planner_frequency: 1.0
     GridBased:
@@ -187,7 +187,7 @@
     global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1
-    use_sim_time: true
+    use_sim_time: false
     max_rotational_vel: 1.0
     min_rotational_vel: 0.4
     rotational_acc_lim: 3.2