Advertisement
Guest User

Untitled

a guest
Jun 19th, 2020
162
Never
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 2.27 KB | None
  1. DWAPlannerROS:
  2.  
  3. # Robot Configuration Parameters - Kobuki
  4. max_vel_x: 0.4 # 0.55
  5. min_vel_x: 0.0
  6.  
  7. max_vel_y: 0.0 # diff drive robot
  8. min_vel_y: 0.0 # diff drive robot
  9.  
  10. max_vel_trans: 0.5 # choose slightly less than the base's capability
  11. min_vel_trans: 0.1 # this is the min trans velocity when there is negligible rotational velocity
  12. trans_stopped_vel: 0.1
  13.  
  14. # Warning!
  15. # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities
  16. # are non-negligible and small in place rotational velocities will be created.
  17.  
  18. max_vel_theta: 5.0 # choose slightly less than the base's capability
  19. min_vel_theta: 0.4 # this is the min angular velocity when there is negligible translational velocity
  20. theta_stopped_vel: 0.4
  21.  
  22. acc_lim_x: 0.3 # maximum is theoretically 2.0, but we
  23. acc_lim_theta: 2.0
  24. acc_lim_y: 0.0 # diff drive robot
  25.  
  26. # Goal Tolerance Parameters
  27. yaw_goal_tolerance: 0.3 # 0.05
  28. xy_goal_tolerance: 0.15 # 0.10
  29. # latch_xy_goal_tolerance: false
  30.  
  31. # Forward Simulation Parameters
  32. sim_time: 1.0 # 1.7
  33. vx_samples: 6 # 3
  34. vy_samples: 1 # diff drive robot, there is only one sample
  35. vtheta_samples: 20 # 20
  36.  
  37. # Trajectory Scoring Parameters
  38. path_distance_bias: 64.0 # 32.0 - weighting for how much it should stick to the global path plan
  39. goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal
  40. occdist_scale: 0.5 # 0.01 - weighting for how much the controller should avoid obstacles
  41. forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point
  42. stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj.
  43. scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint
  44. max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed.
  45.  
  46. # Oscillation Prevention Parameters
  47. oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags
  48.  
  49. # Debugging
  50. publish_traj_pc : true
  51. publish_cost_grid_pc: true
  52. global_frame_id: odom
  53.  
  54.  
  55. # Differential-drive robot configuration - necessary?
  56. # holonomic_robot: false
Advertisement
RAW Paste Data Copied
Advertisement