27 lines
483 B
YAML
27 lines
483 B
YAML
TrajectoryPlannerROS:
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# Robot Configuration Parameters
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max_vel_x: 0.18
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min_vel_x: 0.08
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max_vel_theta: 1.0
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min_vel_theta: -1.0
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min_in_place_vel_theta: 1.0
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acc_lim_x: 1.0
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acc_lim_y: 0.0
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acc_lim_theta: 0.6
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# Goal Tolerance Parameters
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xy_goal_tolerance: 0.10
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yaw_goal_tolerance: 0.05
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# Differential-drive robot configuration
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holonomic_robot: false
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# Forward Simulation Parameters
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sim_time: 0.8
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vx_samples: 18
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vtheta_samples: 20
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sim_granularity: 0.05
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