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- DWAPlannerROS:
- # Robot Configuration Parameters - Kobuki
- max_vel_x: 0.4 # 0.55
- min_vel_x: 0.0
- max_vel_y: 0.0 # diff drive robot
- min_vel_y: 0.0 # diff drive robot
- max_vel_trans: 0.5 # choose slightly less than the base's capability
- min_vel_trans: 0.1 # this is the min trans velocity when there is negligible rotational velocity
- trans_stopped_vel: 0.1
- # Warning!
- # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities
- # are non-negligible and small in place rotational velocities will be created.
- max_vel_theta: 5.0 # choose slightly less than the base's capability
- min_vel_theta: 0.4 # this is the min angular velocity when there is negligible translational velocity
- theta_stopped_vel: 0.4
- acc_lim_x: 0.3 # maximum is theoretically 2.0, but we
- acc_lim_theta: 2.0
- acc_lim_y: 0.0 # diff drive robot
- # Goal Tolerance Parameters
- yaw_goal_tolerance: 0.3 # 0.05
- xy_goal_tolerance: 0.15 # 0.10
- # latch_xy_goal_tolerance: false
- # Forward Simulation Parameters
- sim_time: 1.0 # 1.7
- vx_samples: 6 # 3
- vy_samples: 1 # diff drive robot, there is only one sample
- vtheta_samples: 20 # 20
- # Trajectory Scoring Parameters
- path_distance_bias: 64.0 # 32.0 - weighting for how much it should stick to the global path plan
- goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal
- occdist_scale: 0.5 # 0.01 - weighting for how much the controller should avoid obstacles
- forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point
- stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj.
- scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint
- max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed.
- # Oscillation Prevention Parameters
- oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags
- # Debugging
- publish_traj_pc : true
- publish_cost_grid_pc: true
- global_frame_id: odom
- # Differential-drive robot configuration - necessary?
- # holonomic_robot: false
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