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34 lines
754 B
YAML
34 lines
754 B
YAML
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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acc_lim_theta: 4.00
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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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max_vel_x: 0.700
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min_vel_x: 0.24
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max_rotational_vel: 0.5
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min_in_place_rotational_vel: 0.15
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escape_vel: -0.10
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holonomic_robot: true
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xy_goal_tolerance: 0.20
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yaw_goal_tolerance: 0.20
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sim_time: 1
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sim_granularity: 0.025
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vx_samples: 3
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vtheta_samples: 20
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controller_frequency: 10
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pdist_scale: 0.6
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gdist_scale: 0.8
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occdist_scale: 0.01
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heading_lookahead: 0.325
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dwa: true
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oscillation_reset_dist: 0.05
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meter_scoring: true
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