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Update dwa_base_local_planner_params.yaml

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bjoernellens1 2025-02-10 13:05:28 +01:00 committed by GitHub
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commit 838c88e1c7
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1 changed files with 2 additions and 2 deletions
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config/dwa_base_local_planner_params.yaml
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@ -21,7 +21,7 @@ DWAPlannerROS:
latch_xy_goal_tolerance: false
pdist_scale: 0.8
gdist_scale: 0.6
meter_scoring: true
#meter_scoring: true
heading_lookahead: 0.325
heading_scoring: false
@ -44,7 +44,7 @@ DWAPlannerROS:
# # Trajectory Scoring Parameters
path_distance_bias: 64.0 # 32.0 - weighting for how much it should stick to the global path plan
goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal
occdist_scale: 2.0 #0.5 # 0.01 - weighting for how much the controller should avoid obstacles
occdist_scale: 10.0 #2.0 #0.5 # 0.01 - weighting for how much the controller should avoid obstacles
forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point
stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj.
scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint