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Base_local_planner

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Jul 17th, 2011
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  1. TrajectoryPlannerROS:
  2. # Robot Configuration Parameters
  3. acc_lim_x: 1.5
  4. acc_lim_y: 1.5
  5. acc_lim_th: 2.0
  6. max_vel_x: 0.25
  7. min_vel_x: 0.05
  8. max_rotational_vel: 1.0
  9. min_in_place_rotational_vel: 0.4
  10. backup_vel: -0.1
  11. holonomic_robot: false
  12.  
  13. # Goal Tolerance Parameters
  14. xy_goal_tolerance: 0.1
  15. yaw_goal_tolerance: 0.05
  16.  
  17. # Forward Simulation Parameters
  18. sim_time: 1.7
  19. sim_granularity: 0.025
  20. vx_samples: 3
  21. vtheta_samples: 20
  22.  
  23. # Trajectory Scoring Parameters
  24. goal_distance_bias: 0.8
  25. path_distance_bias: 0.6
  26. occdist_scale: 0.01
  27. heading_lookahead: 0.325
  28. dwa: true
  29.  
  30. # Oscillation Prevention Parameters
  31. oscillation_reset_dist: 0.05
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