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Update dwa_base_local_planner_params.yaml

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bjoernellens1 2025-02-10 11:32:09 +01:00 committed by GitHub
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commit 455d73e0fa
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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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@ -4,9 +4,9 @@ clearing_rotation_allowed: false
DWAPlannerROS: DWAPlannerROS:
max_vel_trans: 1.0 max_vel_trans: 1.0
min_vel_trans: 0.1 #0.2 min_vel_trans: 0.2
max_vel_x: 1.0 max_vel_x: 1.0
min_vel_x: 0.1 #0.2 min_vel_x: 0.2
max_vel_y: 0.0 # zero for a differential drive robot max_vel_y: 0.0 # zero for a differential drive robot
min_vel_y: 0.0 min_vel_y: 0.0
min_in_place_vel_theta: 0.5 min_in_place_vel_theta: 0.5
@ -32,7 +32,7 @@ DWAPlannerROS:
prune_plan: true prune_plan: true
# Forward Simulation Parameters # Forward Simulation Parameters
sim_time: 2.5 sim_time: 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: 8
@ -48,4 +48,4 @@ DWAPlannerROS:
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
max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed.