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adjusted dwb_local_planner_params #43

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adjusted dwb_local_planner_params #43

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31 changes: 17 additions & 14 deletions mir_navigation/config/dwb_local_planner_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -27,10 +27,13 @@ DWBLocalPlanner:
xy_goal_tolerance: 0.08 # xy_goal_tolerance > (sim_time * min_vel_x) / 2
#latch_xy_goal_tolerance: true

# Whether to split the path into segments or not
split_path: true

# Forward simulation (trajectory generation)
trajectory_generator_name: dwb_plugins::StandardTrajectoryGenerator # or dwb_plugins::LimitedAccelGenerator
sim_time: 1.2
vx_samples: 10
sim_time: 0.8
vx_samples: 15
vy_samples: 1 # diff drive robot, there is only one sample
vtheta_samples: 15
discretize_by_time: false
Expand All @@ -45,25 +48,25 @@ DWBLocalPlanner:

# Critics (trajectory scoring)
#default_critic_namespaces: [dwb_critics, mir_dwb_critics]
critics: [RotateToGoal, Oscillation, ObstacleFootprint, PathAlign, PathDistPruned, PathProgress]
critics: [RotateToGoal, ObstacleFootprint, PathDistPruned, PathProgress]
RotateToGoal:
scale: 1.0
scale: 100.0
# lookahead_time: -1.0
# slowing_factor: 5.0
Oscillation:
#scale: 1.0 # scale doesn't matter: the OscillationCritic always gives a score of 0 for valid trajectories, and throws an exception for oscillating trajectories
oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags, in m
oscillation_reset_angle: 0.2 # 0.2 - the angle the robot must turn before resetting Oscillation flags, in rad
oscillation_reset_time: -1.0
x_only_threshold: 0.1
# Oscillation:
# #scale: 1.0 # scale doesn't matter: the OscillationCritic always gives a score of 0 for valid trajectories, and throws an exception for oscillating trajectories
# oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags, in m
# oscillation_reset_angle: 0.2 # 0.2 - the angle the robot must turn before resetting Oscillation flags, in rad
# oscillation_reset_time: -1.0
# x_only_threshold: 0.1
ObstacleFootprint:
scale: 0.01 # default: 0.01 mir: 0.01 - weighting for how much the controller should avoid obstacles
max_scaling_factor: 0.2 # default: 0.2 mir: 0.2 - how much to scale the robot's footprint when at speed.
scaling_speed: 0.25 # default: 0.25 mir: 0.25 - absolute velocity at which to start scaling the robot's footprint
sum_scores: false # if true, return sum of scores of all trajectory points instead of only last one
PathAlign:
scale: 16.0
forward_point_distance: 0.325 # default: 0.325 mir: 0.325 - how far along to place an additional scoring point
# PathAlign:
# scale: 16.0
# forward_point_distance: 0.325 # default: 0.325 mir: 0.325 - how far along to place an additional scoring point
PathDistPruned:
scale: 32.0 # default: 32.0 mir: 32.0 - weighting for how much it should stick to the global path plan
class: 'mir_dwb_critics::PathDistPruned'
Expand All @@ -73,7 +76,7 @@ DWBLocalPlanner:
class: 'mir_dwb_critics::PathProgress'
xy_local_goal_tolerance: 0.20
angle_threshold: 0.78539816 # 45 degrees


# Prune already passed poses from plan
prune_plan: true
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