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Create dwa_local_planner_params.yaml

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bjoernellens1 2025-01-22 11:26:12 +01:00 committed by GitHub
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controller_frequency: 5.0
recovery_behavior_enabled: false
clearing_rotation_allowed: false
DWAPlannerROS:
max_vel_x: 0.6
min_vel_x: 0.1
max_vel_y: 0.0 # zero for a differential drive robot
min_vel_y: 0.0
min_in_place_vel_theta: 0.5
escape_vel: -0.1
acc_lim_x: 0.5
acc_lim_y: 0.0 # zero for a differential drive robot
acc_lim_theta: 1.0
holonomic_robot: false
yaw_goal_tolerance: 0.1 # about 6 degrees
xy_goal_tolerance: 0.15 # 10 cm
latch_xy_goal_tolerance: false
pdist_scale: 0.8
gdist_scale: 0.6
meter_scoring: true
heading_lookahead: 0.325
heading_scoring: false
heading_scoring_timestep: 0.8
occdist_scale: 0.1
oscillation_reset_dist: 0.05
publish_cost_grid_pc: false
prune_plan: true
sim_time: 2.5
sim_granularity: 0.025
angular_sim_granularity: 0.025
vx_samples: 8
vy_samples: 0 # zero for a differential drive robot
vtheta_samples: 20
dwa: true
simple_attractor: false