ros-pkg: moved az3 planner config in this project

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1919 f169173b-cf89-36c8-b27e-44dbe73f0c83

launch/config/azimut3/base_local_planner_params.yaml

@@ -0,0 +1,32 @@
+TrajectoryPlannerROS:
+
+  # Current limits based on AZ3 standalone configuration.
+  acc_lim_x:  0.75
+  acc_lim_y:  0.75
+  acc_lim_th: 4.00
+  # min_vel_x and max_rotational_vel were set to keep the ICR at
+  # minimal distance of 0.48 m. 
+  # Basically, max_rotational_vel * rho_min <= min_vel_x
+  max_vel_x:  0.500
+  min_vel_x:  0.212
+  max_rotational_vel: 0.550
+  min_in_place_rotational_vel: 0.15
+  escape_vel: -0.10
+  holonomic_robot: false
+
+  xy_goal_tolerance:  0.20
+  yaw_goal_tolerance: 0.20
+
+  sim_time: 1.7
+  sim_granularity: 0.025
+  vx_samples: 3
+  vtheta_samples: 3
+  vtheta_samples: 20
+
+  goal_distance_bias: 0.8
+  path_distance_bias: 0.6
+  occdist_scale: 0.01
+  heading_lookahead: 0.325
+  dwa: true
+
+  oscillation_reset_dist: 0.05