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Teb_local_planner_params

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Sep 15th, 2016
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  1. TebLocalPlannerROS:
  2.  odom_topic: odom
  3.    
  4.  # Trajectory
  5.  
  6.  teb_autosize: True
  7.  dt_ref: 0.03
  8.  dt_hysteresis: 0.1
  9.  global_plan_overwrite_orientation: True
  10.  max_global_plan_lookahead_dist: 3.0
  11.  feasibility_check_no_poses: 2
  12.    
  13.  # Robot
  14.          
  15.  max_vel_x: 1.0
  16.  max_vel_x_backwards: 0.2
  17.  max_vel_theta: 0.3 # the angular velocity is also bounded by min_turning_radius in case of a carlike robot (r = v / omega)
  18.  acc_lim_x: 0.5
  19.  acc_lim_theta: 0.5
  20.  
  21.  # ********************** Carlike robot parameters ********************
  22.  min_turning_radius: 0.5        # Min turning radius of the carlike robot (compute value using a model or adjust with rqt_reconfigure manually)
  23.  wheelbase: 0.4                 # Wheelbase of our robot
  24.  cmd_angle_instead_rotvel: True # stage simulator takes the angle instead of the rotvel as input (twist message)
  25.  # ********************************************************************
  26.  
  27.  footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
  28.    type: "line"
  29.    radius: 0.2 # for type "circular"
  30.    line_start: [0.0, 0.0] # for type "line"
  31.    line_end: [0.4, 0.0] # for type "line"
  32.    front_offset: 0.2 # for type "two_circles"
  33.    front_radius: 0.2 # for type "two_circles"
  34.    rear_offset: 0.2 # for type "two_circles"
  35.    rear_radius: 0.2 # for type "two_circles"
  36.    vertices: [ [0.25, -0.05], [0.18, -0.05], [0.18, -0.18], [-0.19, -0.18], [-0.25, 0], [-0.19, 0.18], [0.18, 0.18], [0.18, 0.05], [0.25, 0.05] ] # for type "polygon"
  37.  
  38.  # GoalTolerance
  39.    
  40.  xy_goal_tolerance: 0.2
  41.  yaw_goal_tolerance: 0.1
  42.  free_goal_vel: False
  43.    
  44.  # Obstacles
  45.    
  46.  min_obstacle_dist: 0.1 # This value must also include our robot's expansion, since footprint_model is set to "line".
  47.  include_costmap_obstacles: True
  48.  costmap_obstacles_behind_robot_dist: 1.0
  49.  obstacle_poses_affected: 30
  50.  costmap_converter_plugin: ""
  51.  costmap_converter_spin_thread: True
  52.  costmap_converter_rate: 5
  53.  
  54.  # Optimization
  55.    
  56.  no_inner_iterations: 5
  57.  no_outer_iterations: 4
  58.  optimization_activate: True
  59.  optimization_verbose: False
  60.  penalty_epsilon: 0.1
  61.  weight_max_vel_x: 2
  62.  weight_max_vel_theta: 1
  63.  weight_acc_lim_x: 1
  64.  weight_acc_lim_theta: 1
  65.  weight_kinematics_nh: 1000
  66.  weight_kinematics_forward_drive: 1
  67.  weight_kinematics_turning_radius: 1
  68.  weight_optimaltime: 1
  69.  weight_obstacle: 50
  70.  weight_dynamic_obstacle: 10 # not in use yet
  71.  
  72.  # Homotopy Class Planner
  73.  
  74.  enable_homotopy_class_planning: True
  75.  enable_multithreading: True
  76.  simple_exploration: False
  77.  max_number_classes: 4
  78.  selection_cost_hysteresis: 1.0
  79.  selection_obst_cost_scale: 1.0
  80.  selection_alternative_time_cost: False
  81.  roadmap_graph_no_samples: 15
  82.  roadmap_graph_area_width: 5
  83.  h_signature_prescaler: 0.5
  84.  h_signature_threshold: 0.1
  85.  obstacle_keypoint_offset: 0.1
  86.  obstacle_heading_threshold: 0.45
  87.  visualize_hc_graph: False
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