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dwa planner

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Nov 12th, 2019
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  1. DWAPlannerROS:
  2. # Robot Configuration Parameters
  3.   max_vel_x: 0.26
  4.   min_vel_x: -0.26
  5.  
  6.   max_vel_y: 0.0
  7.   min_vel_y: 0.0
  8.  
  9. # The velocity when robot is moving in a straight line
  10.   max_trans_vel: 0.26
  11.   min_trans_vel: 0.13
  12.  
  13.   max_rot_vel: 1.82
  14.   min_rot_vel: 0.9
  15.  
  16.   acc_lim_x: 2.5
  17.   acc_lim_y: 0.0
  18.   acc_lim_theta: 3.2
  19.  
  20. # Goal Tolerance Parametes
  21.   xy_goal_tolerance: 0.05
  22.   yaw_goal_tolerance: 0.17
  23.   latch_xy_goal_tolerance: false
  24.  
  25. # Forward Simulation Parameters
  26.   sim_time: 2.0
  27.   vx_samples: 20
  28.   vy_samples: 0
  29.   vth_samples: 40
  30.   # controller_frequency: 10.0
  31.   controller_frequency: 20.0
  32.  
  33. # Trajectory Scoring Parameters
  34.   path_distance_bias: 100.0
  35.   goal_distance_bias: 100.0
  36.   occdist_scale: 0.02
  37.   forward_point_distance: 0.325
  38.   stop_time_buffer: 0.2
  39.   scaling_speed: 0.25
  40.   max_scaling_factor: 0.2
  41.  
  42. # Oscillation Prevention Parameters
  43.   oscillation_reset_dist: 0.1
  44.  
  45. # Debugging
  46.   publish_traj_pc : true
  47.   publish_cost_grid_pc: true
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