ellensohn/cps_rmp220_support
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Björn Ellensohn 2023-09-07 11:22:05 +02:00
parent 5d80729cb7
commit 9083043365
1 changed files with 1 additions and 1 deletions
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config/nav2_params.yaml
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@ -544,7 +544,7 @@ planner_server:
angle_quantization_bins: 72 # Number of angle bins for search 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_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: 0.40 # minimum turning radius in m of path / vehicle minimum_turning_radius: 0.20 # 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: 2.0 # Penalty to apply if motion is reversing, must be => 1
change_penalty: 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0 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 non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1