55 lines
1.1 KiB
YAML
55 lines
1.1 KiB
YAML
DWAPlannerROS:
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# Robot Configuration Parameters
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max_vel_x: 2.0
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min_vel_x: -2.0
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max_vel_y: 2.0
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min_vel_y: -2.0
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# The velocity when robot is moving in a straight line
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max_vel_trans: 1.0
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min_vel_trans: -1.0 # -2.0
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max_vel_theta: 1.0
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min_vel_theta: -1.0 # -1.0
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# max_rot_vel: 1.0
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# min_rot_vel: -1.0
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acc_lim_x: 3.0 # 1.0
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acc_lim_y: 3.0 # 1.0
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acc_lim_theta: 3.0
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acc_lim_trans: 3.0 # 0.5
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# # Goal Tolerance Parameters
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xy_goal_tolerance: 0.20
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yaw_goal_tolerance: 0.17
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latch_xy_goal_tolerance: false
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# # Forward Simulation Parameters
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# sim_time: 2.0
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# sim_granularity: 0.5
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# vx_samples: 20
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# vy_samples: 0
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# vth_samples: 20
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# controller_frequency: 10.0
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# # Trajectory Scoring Parameters
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# path_distance_bias: 64.0
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# goal_distance_bias: 80.0
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# occdist_scale: 0.02
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# forward_point_distance: 0.325
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# stop_time_buffer: 0.2
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# scaling_speed: 0.25
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# max_scaling_factor: 0.2
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# # Oscillation Prevention Parameters
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# oscillation_reset_dist: 0.05
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# # Debugging
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# publish_traj_pc : true
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# publish_cost_grid_pc: true
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# prune_plan: true
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