From 019a359a5cdfecc3fc3ce9cd7a2c98c74170046e Mon Sep 17 00:00:00 2001 From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com> Date: Mon, 10 Feb 2025 13:09:28 +0100 Subject: [PATCH] Update dwa_base_local_planner_params.yaml --- config/dwa_base_local_planner_params.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/config/dwa_base_local_planner_params.yaml b/config/dwa_base_local_planner_params.yaml index 195b8ed..5f8c040 100644 --- a/config/dwa_base_local_planner_params.yaml +++ b/config/dwa_base_local_planner_params.yaml @@ -23,8 +23,8 @@ DWAPlannerROS: gdist_scale: 0.6 #meter_scoring: true - heading_lookahead: 0.325 - heading_scoring: false + heading_lookahead: 1.5 #0.325 + heading_scoring: true #false heading_scoring_timestep: 0.8 #occdist_scale: 0.1 oscillation_reset_dist: 0.05 @@ -32,10 +32,10 @@ DWAPlannerROS: prune_plan: true # Forward Simulation Parameters - sim_time: 2.5 #5.0 #1.0 #5.0 #2.5 + sim_time: 5.0 #1.0 #5.0 #2.5 sim_granularity: 0.025 angular_sim_granularity: 0.025 - vx_samples: 8 + vx_samples: 20 #8 vy_samples: 1 #0 # zero for a differential drive robot vtheta_samples: 20 dwa: true @@ -44,7 +44,7 @@ DWAPlannerROS: # # Trajectory Scoring Parameters 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 - occdist_scale: 10.0 #2.0 #0.5 # 0.01 - weighting for how much the controller should avoid obstacles + occdist_scale: 50.0 #2.0 #0.5 # 0.01 - weighting for how much the controller should avoid obstacles 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