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52 lines
1.9 KiB
YAML
52 lines
1.9 KiB
YAML
controller_frequency: 3.0 #20.0 #5.0
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recovery_behavior_enabled: true #false
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clearing_rotation_allowed: true #false
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DWAPlannerROS:
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max_vel_trans: 1.0
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min_vel_trans: 0.1 #0.2
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max_vel_x: 1.0
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min_vel_x: 0.1 #0.2
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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: 0.1 #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: 1.5 #0.325
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heading_scoring: true #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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# Forward Simulation Parameters
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sim_time: 5.0 #1.0 #5.0 #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: 20 #8
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vy_samples: 1 #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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# # Trajectory Scoring Parameters
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path_distance_bias: 64.0 # 32.0 - weighting for how much it should stick to the global path plan
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goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal
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occdist_scale: 50.0 #2.0 #0.5 # 0.01 - weighting for how much the controller should avoid obstacles
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forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point
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stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj.
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scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint
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max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed.
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