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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27
config/nav2_params.yaml
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@ -588,17 +588,30 @@ 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 theta-star planner
planner_server:
ros__parameters:
ros__parameters:
expected_planner_frequency: 20.0
use_sim_time: False
use_sim_time: True
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
#plugin: "nav2_smac_planner/SmacPlanner2D"
tolerance: 0.5
#use_astar: false
allow_unknown: true
plugin: "nav2_theta_star_planner/ThetaStarPlanner"
how_many_corners: 8
w_euc_cost: 1.0
w_traversal_cost: 2.0
w_heuristic_cost: 1.0
# trying smac hybrid planner
# planner_server: