2014-10-23 20:07:59 +00:00
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TrajectoryPlannerROS:
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# Current limits based on AZ3 standalone configuration.
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acc_lim_x: 0.75
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acc_lim_y: 0.75
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2014-10-24 21:50:05 +00:00
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acc_lim_theta: 4.00
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2014-10-23 20:07:59 +00:00
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# min_vel_x and max_rotational_vel were set to keep the ICR at
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# minimal distance of 0.48 m.
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# Basically, max_rotational_vel * rho_min <= min_vel_x
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2015-02-12 15:31:13 -05:00
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max_vel_x: 0.700
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2015-03-18 18:00:30 -04:00
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min_vel_x: 0.24
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max_rotational_vel: 0.5
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2014-10-23 20:07:59 +00:00
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min_in_place_rotational_vel: 0.15
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xy_goal_tolerance: 0.20
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yaw_goal_tolerance: 0.20
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2015-03-20 19:45:57 -04:00
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sim_time: 1.5
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vtheta_samples: 30
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2014-10-23 20:07:59 +00:00
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2015-03-22 17:47:35 -04:00
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meter_scoring: true
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2014-10-23 20:07:59 +00:00
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2015-03-22 17:47:35 -04:00
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#global planner
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NavfnROS:
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allow_unknown: false
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visualize_potential: true
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