ellensohn/cps_rmp220_support
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update

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Björn Ellensohn 2023-09-08 09:55:23 +02:00
parent c9bdff4705
commit 56a1de8b33
1 changed files with 2 additions and 2 deletions
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config/nav2_params.yaml
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@ -408,7 +408,7 @@ controller_server:
use_rotate_to_heading: true use_rotate_to_heading: true
allow_reversing: true allow_reversing: true
rotate_to_heading_min_angle: 0.785 rotate_to_heading_min_angle: 0.785
max_angular_accel: 3.2 max_angular_accel: 1.2
max_robot_pose_search_dist: 10.0 max_robot_pose_search_dist: 10.0
use_interpolation: true use_interpolation: true
@ -545,7 +545,7 @@ planner_server:
analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach. 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 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: 0.15 # 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 reverse_penalty: 1.0 # 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: 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.