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42 lines
1.3 KiB
YAML
42 lines
1.3 KiB
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
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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: 0.5
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min_vel_x: 0.24
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max_vel_theta: 0.5
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min_vel_theta: -0.5
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min_in_place_vel_theta: 0.25
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holonomic_robot: true
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xy_goal_tolerance: 0.25
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yaw_goal_tolerance: 0.25
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latch_xy_goal_tolerance: true
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# make sure that the minimum velocity multiplied by the sim_period is less than twice the tolerance on a goal. Otherwise, the robot will prefer to rotate in place just outside of range of its target position rather than moving towards the goal.
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sim_time: 1.5 # set between 1 and 2. The higher he value, the smoother the path (though more samples would be required).
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sim_granularity: 0.025
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angular_sim_granularity: 0.05
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vx_samples: 12
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vtheta_samples: 20
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meter_scoring: true
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pdist_scale: 0.7 # The higher will follow more the global path.
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gdist_scale: 0.8
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occdist_scale: 0.01
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publish_cost_grid_pc: false
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#move_base
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controller_frequency: 10.0 #The robot can move faster when higher.
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#global planner
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NavfnROS:
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allow_unknown: true
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visualize_potential: false
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