ellensohn/cps_rmp220_support
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update

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Björn Ellensohn 2023-09-14 10:38:49 +02:00
parent 7f71b6a6ad
commit 5470e5bd79
1 changed files with 21 additions and 21 deletions
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34
config/nav2_params.yaml
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@ -588,29 +588,29 @@ map_saver:
occupied_thresh_default: 0.65
map_subscribe_transient_local: True
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
#use_astar: false
allow_unknown: true
### Trying theta-star planner
# planner_server:
# ros__parameters:
# expected_planner_frequency: 20.0
# use_sim_time: False
# planner_plugins: ["GridBased"]
# GridBased:
# plugin: "nav2_navfn_planner/NavfnPlanner"
# tolerance: 0.5
# #use_astar: false
# allow_unknown: true
### Trying theta-star planner
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: False
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_theta_star_planner/ThetaStarPlanner"
how_many_corners: 8
w_euc_cost: 1.0
w_traversal_cost: 2.0
w_heuristic_cost: 1.0
# plugin: "nav2_theta_star_planner/ThetaStarPlanner"
# how_many_corners: 8
# w_euc_cost: 1.0
# w_traversal_cost: 2.0
# w_heuristic_cost: 1.0
# trying smac hybrid planner
# planner_server: