From 5d80729cb7c7a981f5b895e5ff33a94c9a506202 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Thu, 7 Sep 2023 11:19:15 +0200 Subject: [PATCH] update --- config/nav2_params.yaml | 29 ++++++++++++++++++----------- 1 file changed, 18 insertions(+), 11 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index b1b6415..192d8d5 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -525,32 +525,39 @@ map_saver: # #use_astar: false # allow_unknown: true -# trying smac lattice planner +# trying smac hybrid planner planner_server: ros__parameters: planner_plugins: ["GridBased"] - use_sim_time: False + use_sim_time: True GridBased: - plugin: "nav2_smac_planner/SmacPlannerLattice" - allow_unknown: true # Allow traveling in unknown space + plugin: "nav2_smac_planner/SmacPlannerHybrid" + downsample_costmap: false # whether or not to downsample the map + downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm) tolerance: 0.25 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found. - max_iterations: 1000000 # Maximum total iterations to search for before failing (in case unreachable), set to -1 to disable + allow_unknown: true # allow traveling in unknown space + 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 + max_planning_time: 5.0 # max time in s for planner to plan, smooth + motion_model_for_search: "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: 0.40 # minimum turning radius in m of path / vehicle reverse_penalty: 2.0 # Penalty to apply if motion is reversing, must be => 1 - change_penalty: 0.05 # Penalty to apply if motion is changing directions (L to R), must be >= 0 - non_straight_penalty: 1.05 # Penalty to apply if motion is non-straight, must be => 1 + change_penalty: 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. - rotation_penalty: 5.0 # Penalty to apply to in-place rotations, if minimum control set contains them retrospective_penalty: 0.015 - lattice_filepath: "" # The filepath to the state lattice graph 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. - allow_reverse_expansion: false # If true, allows the robot to use the primitives to expand in the mirrored opposite direction of the current robot's orientation (to reverse). + 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 + allow_primitive_interpolation: False smooth_path: True # If true, does a simple and quick smoothing post-processing to the path + smoother: max_iterations: 1000 w_smooth: 0.3