ellensohn/cps_rmp220_support
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Björn Ellensohn 2023-09-14 10:36:00 +02:00
parent 51f9299212
commit ba15e3ddcc
1 changed files with 23 additions and 10 deletions
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33
config/nav2_params.yaml
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@ -588,17 +588,30 @@ map_saver:
occupied_thresh_default: 0.65 occupied_thresh_default: 0.65
map_subscribe_transient_local: True 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 theta-star planner
planner_server: planner_server:
ros__parameters: ros__parameters:
expected_planner_frequency: 20.0 expected_planner_frequency: 20.0
use_sim_time: False use_sim_time: True
planner_plugins: ["GridBased"] planner_plugins: ["GridBased"]
GridBased: GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner" plugin: "nav2_theta_star_planner/ThetaStarPlanner"
#plugin: "nav2_smac_planner/SmacPlanner2D" how_many_corners: 8
tolerance: 0.5 w_euc_cost: 1.0
#use_astar: false w_traversal_cost: 2.0
allow_unknown: true w_heuristic_cost: 1.0
# trying smac hybrid planner # trying smac hybrid planner
# planner_server: # planner_server: