| 1234567891011121314151617181920212223242526272829303132333435363738394041424344 |
- controller_frequency: 3.0
- recovery_behavior_enabled: false
- clearing_rotation_allowed: false
- TrajectoryPlannerROS:
- max_vel_x: 1.0
- min_vel_x: -3.0
- max_vel_y: 0.0 # zero for a differential drive robot
- min_vel_y: 0.0
- max_vel_theta: 0.5
- min_vel_theta: -0.5
- min_in_place_vel_theta: 0.05 # 0.01
- escape_vel: -0.2
- acc_lim_x: 0.5
- acc_lim_y: 0.0 # zero for a differential drive robot
- acc_lim_theta: 2.0
- holonomic_robot: false
- yaw_goal_tolerance: 0.03 # about 0.6 degrees
- xy_goal_tolerance: 0.05 # 5 cm
- latch_xy_goal_tolerance: false
- pdist_scale: 0.8
- gdist_scale: 0.2
- meter_scoring: true
- heading_lookahead: 0.325 #0.325
- heading_scoring: true
- heading_scoring_timestep: 2.8
- occdist_scale: 0.02
- oscillation_reset_dist: 0.05
- publish_cost_grid_pc: false
- prune_plan: true
- sim_time: 2.0
- sim_granularity: 0.1
- angular_sim_granularity: 0.1
- vx_samples: 8 # 8
- vy_samples: 0 # zero for a differential drive robot
- vtheta_samples: 10
- dwa: false
- simple_attractor: false
|
