From 4aa5e2134bfa1b35967ff82a88bb52dea7a5cebd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Fri, 8 Sep 2023 09:47:04 +0200 Subject: [PATCH] update --- config/nav2_params.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index e9ebf07..c8f7ed4 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -56,7 +56,7 @@ bt_navigator: - nav2_compute_path_through_poses_action_bt_node - nav2_smooth_path_action_bt_node - nav2_follow_path_action_bt_node - - nav2_spin_action_bt_node + #- nav2_spin_action_bt_node - nav2_wait_action_bt_node - nav2_assisted_teleop_action_bt_node - nav2_back_up_action_bt_node @@ -540,18 +540,18 @@ planner_server: max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution max_planning_time: 5.0 # max time in s for planner to plan, smooth - motion_model_for_search: "DUBIN" # Hybrid-A* Dubin, Redds-Shepp + motion_model_for_search: "Hybrid-A*" #was DUBIN # Hybrid-A* Dubin, Redds-Shepp angle_quantization_bins: 72 # Number of angle bins for search analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach. analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting - minimum_turning_radius: 0.10 # was 0.40 # minimum turning radius in m of path / vehicle + minimum_turning_radius: 0.15 # was 0.40 # minimum turning radius in m of path / vehicle reverse_penalty: 2.0 # Penalty to apply if motion is reversing, must be => 1 - change_penalty: 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 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. retrospective_penalty: 0.015 lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters. - cache_obstacle_heuristic: false # 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. debug_visualizations: false # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning) and the path's footprints on the /planned_footprints topic. WARNING: heavy to compute and to display, for debug only as it degrades the performance. use_quadratic_cost_penalty: False downsample_obstacle_heuristic: True