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Update dwa_base_local_planner_params.yaml

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bjoernellens1 2025-02-10 12:51:21 +01:00 committed by GitHub
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1 changed files with 4 additions and 4 deletions
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config/dwa_base_local_planner_params.yaml
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@ -1,4 +1,4 @@
controller_frequency: 2.0 #20.0 #5.0
controller_frequency: 3.0 #20.0 #5.0
recovery_behavior_enabled: true #false
clearing_rotation_allowed: true #false
@ -9,7 +9,7 @@ DWAPlannerROS:
min_vel_x: 0.1 #0.2
max_vel_y: 0.0 # zero for a differential drive robot
min_vel_y: 0.0
min_in_place_vel_theta: 0.5
min_in_place_vel_theta: 0.1 #0.5
escape_vel: -0.1
acc_lim_x: 0.5
acc_lim_y: 0.0 # zero for a differential drive robot
@ -32,7 +32,7 @@ DWAPlannerROS:
prune_plan: true
# Forward Simulation Parameters
sim_time: 5.0 #1.0 #5.0 #2.5
sim_time: 2.5 #5.0 #1.0 #5.0 #2.5
sim_granularity: 0.025
angular_sim_granularity: 0.025
vx_samples: 8
@ -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: 0.5 # 0.01 - weighting for how much the controller should avoid obstacles
occdist_scale: 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