48 lines
916 B
YAML
48 lines
916 B
YAML
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DWAPlannerROS:
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# Robot Configuration Parameters
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max_vel_x: 0.22
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min_vel_x: -0.22
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max_vel_y: 0.0
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min_vel_y: 0.0
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# The velocity when robot is moving in a straight line
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max_vel_trans: 0.22
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min_vel_trans: 0.11
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max_vel_theta: 2.75
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min_vel_theta: 1.37
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acc_lim_x: 2.5
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acc_lim_y: 0.0
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acc_lim_theta: 3.2
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# Goal Tolerance Parametes
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xy_goal_tolerance: 0.05
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yaw_goal_tolerance: 0.17
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latch_xy_goal_tolerance: false
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# Forward Simulation Parameters
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sim_time: 1.5
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vx_samples: 20
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vy_samples: 0
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vth_samples: 40
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controller_frequency: 10.0
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# Trajectory Scoring Parameters
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path_distance_bias: 32.0
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goal_distance_bias: 20.0
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occdist_scale: 0.02
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forward_point_distance: 0.325
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stop_time_buffer: 0.2
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scaling_speed: 0.25
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max_scaling_factor: 0.2
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# Oscillation Prevention Parameters
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oscillation_reset_dist: 0.05
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# Debugging
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publish_traj_pc : true
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publish_cost_grid_pc: true
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