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update

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Björn Ellensohn 2023-09-08 10:22:20 +02:00
parent f7b41b72e0
commit 0ff188d8bb
1 changed files with 1 additions and 1 deletions
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config/nav2_params.yaml
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@ -548,7 +548,7 @@ planner_server:
reverse_penalty: 1.3 # was 2.0 # Penalty to apply if motion is reversing, must be => 1 reverse_penalty: 1.3 # was 2.0 # Penalty to apply if motion is reversing, must be => 1
change_penalty: 0.5 # was 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0 change_penalty: 0.5 # was 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0
non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1 non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1
cost_penalty: 2.0 # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable. cost_penalty: 3.0 # was 2 before # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
retrospective_penalty: 0.015 retrospective_penalty: 0.015
lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters. lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters.
cache_obstacle_heuristic: true #was fasle # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static. cache_obstacle_heuristic: true #was fasle # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.