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Update dwa_base_local_planner_params.yaml

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bjoernellens1 2025-02-10 12:29:29 +01:00 committed by GitHub
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commit 9480836dc3
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1 changed files with 9 additions and 9 deletions
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config/dwa_base_local_planner_params.yaml
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@ -4,9 +4,9 @@ clearing_rotation_allowed: true #false
DWAPlannerROS:
max_vel_trans: 1.0
min_vel_trans: 0.4 #0.2
min_vel_trans: 0.1 #0.2
max_vel_x: 1.0
min_vel_x: 0.4 #0.2
min_vel_x: 0.1 #0.2
max_vel_y: 0.0 # zero for a differential drive robot
min_vel_y: 0.0
min_in_place_vel_theta: 0.5
@ -42,10 +42,10 @@ DWAPlannerROS:
simple_attractor: false
# # 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: 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
# max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed.
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: 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
max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed.