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Update dwa_base_local_planner_params.yaml

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bjoernellens1 2025-02-10 13:09:28 +01:00 committed by GitHub
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commit 019a359a5c
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1 changed files with 5 additions and 5 deletions
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config/dwa_base_local_planner_params.yaml
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@ -23,8 +23,8 @@ DWAPlannerROS:
gdist_scale: 0.6 gdist_scale: 0.6
#meter_scoring: true #meter_scoring: true
heading_lookahead: 0.325 heading_lookahead: 1.5 #0.325
heading_scoring: false heading_scoring: true #false
heading_scoring_timestep: 0.8 heading_scoring_timestep: 0.8
#occdist_scale: 0.1 #occdist_scale: 0.1
oscillation_reset_dist: 0.05 oscillation_reset_dist: 0.05
@ -32,10 +32,10 @@ DWAPlannerROS:
prune_plan: true prune_plan: true
# Forward Simulation Parameters # 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 sim_granularity: 0.025
angular_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 vy_samples: 1 #0 # zero for a differential drive robot
vtheta_samples: 20 vtheta_samples: 20
dwa: true dwa: true
@ -44,7 +44,7 @@ DWAPlannerROS:
# # Trajectory Scoring Parameters # # Trajectory Scoring Parameters
path_distance_bias: 64.0 # 32.0 - weighting for how much it should stick to the global path plan 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 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 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. 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 scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint