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Björn Ellensohn 2023-09-07 11:19:15 +02:00
parent f0de12c88f
commit 5d80729cb7
1 changed files with 18 additions and 11 deletions
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config/nav2_params.yaml
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@ -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