2025-02-10 11:51:21 +00:00
|
|
|
controller_frequency: 3.0 #20.0 #5.0
|
2025-02-10 09:23:34 +00:00
|
|
|
recovery_behavior_enabled: true #false
|
2025-02-10 10:34:35 +00:00
|
|
|
clearing_rotation_allowed: true #false
|
2025-01-22 10:30:15 +00:00
|
|
|
|
|
|
|
|
DWAPlannerROS:
|
2025-01-22 11:26:30 +00:00
|
|
|
max_vel_trans: 1.0
|
2025-02-10 11:29:29 +00:00
|
|
|
min_vel_trans: 0.1 #0.2
|
2025-01-22 11:20:22 +00:00
|
|
|
max_vel_x: 1.0
|
2025-02-10 11:29:29 +00:00
|
|
|
min_vel_x: 0.1 #0.2
|
2025-01-22 10:30:15 +00:00
|
|
|
max_vel_y: 0.0 # zero for a differential drive robot
|
|
|
|
|
min_vel_y: 0.0
|
2025-02-10 11:51:21 +00:00
|
|
|
min_in_place_vel_theta: 0.1 #0.5
|
2025-01-22 10:30:15 +00:00
|
|
|
escape_vel: -0.1
|
|
|
|
|
acc_lim_x: 0.5
|
|
|
|
|
acc_lim_y: 0.0 # zero for a differential drive robot
|
|
|
|
|
acc_lim_theta: 1.0
|
|
|
|
|
|
|
|
|
|
holonomic_robot: false
|
|
|
|
|
yaw_goal_tolerance: 0.1 # about 6 degrees
|
|
|
|
|
xy_goal_tolerance: 0.15 # 10 cm
|
|
|
|
|
latch_xy_goal_tolerance: false
|
|
|
|
|
pdist_scale: 0.8
|
|
|
|
|
gdist_scale: 0.6
|
2025-02-10 12:05:28 +00:00
|
|
|
#meter_scoring: true
|
2025-01-22 10:30:15 +00:00
|
|
|
|
2025-02-10 12:09:28 +00:00
|
|
|
heading_lookahead: 1.5 #0.325
|
|
|
|
|
heading_scoring: true #false
|
2025-01-22 10:30:15 +00:00
|
|
|
heading_scoring_timestep: 0.8
|
2025-02-10 09:23:34 +00:00
|
|
|
#occdist_scale: 0.1
|
2025-01-22 10:30:15 +00:00
|
|
|
oscillation_reset_dist: 0.05
|
|
|
|
|
publish_cost_grid_pc: false
|
|
|
|
|
prune_plan: true
|
|
|
|
|
|
2025-02-10 09:23:34 +00:00
|
|
|
# Forward Simulation Parameters
|
2025-02-10 12:09:28 +00:00
|
|
|
sim_time: 5.0 #1.0 #5.0 #2.5
|
2025-01-22 10:30:15 +00:00
|
|
|
sim_granularity: 0.025
|
|
|
|
|
angular_sim_granularity: 0.025
|
2025-02-10 12:09:28 +00:00
|
|
|
vx_samples: 20 #8
|
2025-02-10 09:23:34 +00:00
|
|
|
vy_samples: 1 #0 # zero for a differential drive robot
|
2025-01-22 10:30:15 +00:00
|
|
|
vtheta_samples: 20
|
|
|
|
|
dwa: true
|
|
|
|
|
simple_attractor: false
|
2025-02-10 09:23:34 +00:00
|
|
|
|
2025-02-10 10:35:47 +00:00
|
|
|
# # Trajectory Scoring Parameters
|
2025-02-10 11:29:29 +00:00
|
|
|
path_distance_bias: 64.0 # 32.0 - weighting for how much it should stick to the global path plan
|
|
|
|
|
goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal
|
2025-02-10 12:09:28 +00:00
|
|
|
occdist_scale: 50.0 #2.0 #0.5 # 0.01 - weighting for how much the controller should avoid obstacles
|
2025-02-10 11:29:29 +00:00
|
|
|
forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point
|
|
|
|
|
stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj.
|
|
|
|
|
scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint
|
|
|
|
|
max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed.
|
