ellensohn/cps_rmp220_support
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Björn Ellensohn 2023-09-08 09:49:02 +02:00
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commit ed2efad0ac
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config/nav2_params.yaml
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@ -540,7 +540,7 @@ planner_server:
max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable 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_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 max_planning_time: 5.0 # max time in s for planner to plan, smooth
motion_model_for_search: "Hybrid-A*" #was DUBIN # Hybrid-A* Dubin, Redds-Shepp motion_model_for_search: "DUBIN" #was DUBIN # Hybrid-A* Dubin, Redds-Shepp
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