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40 lines
976 B
YAML
40 lines
976 B
YAML
controller_frequency: 5.0
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recovery_behavior_enabled: false
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clearing_rotation_allowed: false
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DWAPlannerROS:
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max_vel_x: 0.6
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min_vel_x: 0.1
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max_vel_y: 0.0 # zero for a differential drive robot
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min_vel_y: 0.0
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min_in_place_vel_theta: 0.5
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escape_vel: -0.1
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acc_lim_x: 0.5
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acc_lim_y: 0.0 # zero for a differential drive robot
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acc_lim_theta: 1.0
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holonomic_robot: false
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yaw_goal_tolerance: 0.1 # about 6 degrees
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xy_goal_tolerance: 0.15 # 10 cm
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latch_xy_goal_tolerance: false
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pdist_scale: 0.8
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gdist_scale: 0.6
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meter_scoring: true
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heading_lookahead: 0.325
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heading_scoring: false
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heading_scoring_timestep: 0.8
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occdist_scale: 0.1
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oscillation_reset_dist: 0.05
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publish_cost_grid_pc: false
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prune_plan: true
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sim_time: 2.5
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sim_granularity: 0.025
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angular_sim_granularity: 0.025
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vx_samples: 8
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vy_samples: 0 # zero for a differential drive robot
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vtheta_samples: 20
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dwa: true
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simple_attractor: false
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