45 lines
892 B
YAML
45 lines
892 B
YAML
TrajectoryPlannerROS:
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# Robot Configuration Parameters
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max_vel_x: 0.3
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min_vel_x: 0.1
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max_vel_theta: 1.0
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min_vel_theta: -1.0
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min_in_place_vel_theta: 0.4
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acc_lim_x: 2.5
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acc_lim_y: 0.0
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acc_lim_theta: 3.2
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# Goal Tolerance Parameters
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xy_goal_tolerance: 0.15
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yaw_goal_tolerance: 0.1
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latch_xy_goal_tolerance: false
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# Forward Simulation Parameters
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sim_time: 3.0
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vx_samples: 6
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vtheta_samples: 20
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sim_granularity: 0.05
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# Trajectory Scoring Parameters
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meter_scoring: true
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pdist_scale: 0.6
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gdist_scale: 0.8
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occdist_scale: 0.01
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heading_lookahead: 0.325
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# dwa: true
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# Oscillation Prevention Parameters
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oscillation_reset_dist: 0.05
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# Differential-drive robot configuration
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holonomic_robot: false
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max_vel_y: 0.0
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min_vel_y: 0.0
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acc_lim_y: 0.0
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vy_samples: 1
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