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shankerkeshavdas

ROS-Answers/Navigation/NavCon1

Feb 1st, 2012
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  1. TrajectoryPlannerROS:
  2. #Independent settings for the local costmap
  3. transform_tolerance: 0.6
  4. sim_time: 5.0
  5. sim_granularity: 0.025
  6. dwa: true
  7. vx_samples: 3
  8. vtheta_samples: 20
  9. max_vel_x: 0.15
  10. min_vel_x: 0.00
  11. max_rotational_vel: 0.4
  12. min_in_place_rotational_vel: 0.6
  13. xy_goal_tolerance: 0.2
  14. yaw_goal_tolerance: 0.15
  15. goal_distance_bias: 0.8
  16. path_distance_bias: 0.6
  17. occdist_scale: 0.001
  18. heading_lookahead: 0.6
  19. oscillation_reset_dist: 0.05
  20. holonomic_robot: true
  21. acc_lim_th: 1.2
  22. acc_lim_x: 0.5
  23. acc_lim_y: 0.5
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