From aa2aed6e026dd7b51edd6ac09fa17aa86e31235a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Fri, 8 Sep 2023 10:56:18 +0200 Subject: [PATCH] update --- config/nav2_params.yaml | 94 ++++++++++++++++++++--------------------- 1 file changed, 47 insertions(+), 47 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index 7ef4cd1..7f2f329 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -576,58 +576,58 @@ map_saver: occupied_thresh_default: 0.65 map_subscribe_transient_local: True -# planner_server: -# ros__parameters: -# expected_planner_frequency: 20.0 -# use_sim_time: False -# planner_plugins: ["GridBased"] -# GridBased: -# plugin: "nav2_navfn_planner/NavfnPlanner" -# #plugin: "nav2_smac_planner/SmacPlanner2D" -# tolerance: 0.5 -# #use_astar: false -# allow_unknown: true - -# trying smac hybrid planner planner_server: ros__parameters: + expected_planner_frequency: 20.0 + use_sim_time: False planner_plugins: ["GridBased"] - use_sim_time: True - GridBased: - 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. - 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 - motion_model_for_search: "DUBIN" #was 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: 0.10 # was 0.40 # minimum turning radius in m of path / vehicle - reverse_penalty: 1.3 # was 2.0 # Penalty to apply if motion is reversing, must be => 1 - change_penalty: 0.5 # was 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: 3.0 # was 2 before # 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. - retrospective_penalty: 0.015 - lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters. - cache_obstacle_heuristic: true #was fasle # 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. - 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 + plugin: "nav2_navfn_planner/NavfnPlanner" + #plugin: "nav2_smac_planner/SmacPlanner2D" + tolerance: 0.5 + #use_astar: false + allow_unknown: true - smoother: - max_iterations: 1000 - w_smooth: 0.3 - w_data: 0.2 - tolerance: 1.0e-10 - do_refinement: true - refinement_num: 2 +# trying smac hybrid planner +# planner_server: +# ros__parameters: +# planner_plugins: ["GridBased"] +# use_sim_time: True + +# GridBased: +# 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. +# 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 +# motion_model_for_search: "DUBIN" #was 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: 0.10 # was 0.40 # minimum turning radius in m of path / vehicle +# reverse_penalty: 1.3 # was 2.0 # Penalty to apply if motion is reversing, must be => 1 +# change_penalty: 0.5 # was 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: 3.0 # was 2 before # 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. +# retrospective_penalty: 0.015 +# lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters. +# cache_obstacle_heuristic: true #was fasle # 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. +# 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 +# w_data: 0.2 +# tolerance: 1.0e-10 +# do_refinement: true +# refinement_num: 2 smoother_server: ros__parameters: