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teb_local_planner_params.yaml
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teb_local_planner_params.yaml
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base_local_planner: teb_local_planner/TebLocalPlannerROS
TebLocalPlannerROS:
odom_topic: robotnik_base_control/odom
map_frame: robot_odom
# Trajectory
teb_autosize: True
dt_ref: 0.3
dt_hysteresis: 0.1
global_plan_overwrite_orientation: true
max_global_plan_lookahead_dist: 1.0
feasibility_check_no_poses: 5
# Robot
max_vel_x: 0.85
max_vel_x_backwards: 0.85
max_vel_theta: 1.0
acc_lim_x: 0.9
acc_lim_theta: 1.0
min_turning_radius: 0.0
wheelbase: 0.0
cmd_angle_instead_rotvel: false
footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
type: "line"
#radius: 0.3 # for type "circular"
line_start: [-0.2, 0.0] # for type "line"
line_end: [0.2, 0.0] # for type "line"
#front_offset: 0.2 # for type "two_circles"
#front_radius: 0.2 # for type "two_circles"
#rear_offset: 0.2 # for type "two_circles"
#rear_radius: 0.2 # for type "two_circles"
#vertices: [ [0.3, -0.25], [0.3, 0.25], [-0.3, 0.25], [-0.3, -0.25] ] # for type "polygon"
# GoalTolerance
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.1
free_goal_vel: False
# Obstacles
min_obstacle_dist: 0.35
inflation_dist: 0.0 # greater than min_obstacle_dist to take effect
dynamic_obstacle_inflation_dist: 0.0 # greater than min_obstacle_dist to take effect
include_costmap_obstacles: True
costmap_obstacles_behind_robot_dist: 1.0
obstacle_poses_affected: 30
costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
#costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSRANSAC"
#costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSMCCH"
#costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSConcaveHull"
#costmap_converter_plugin: "" # deactivate plugin
costmap_converter_spin_thread: True
costmap_converter_rate: 5
# costmap_converter/CostmapToLinesDBSRANSAC:
# cluster_max_distance: 0.4
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.05
weight_max_vel_x: 5
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000
weight_kinematics_forward_drive: 1
weight_kinematics_turning_radius: 1
weight_optimaltime: 1
weight_obstacle: 50
weight_dynamic_obstacle: 10 # not in use yet
selection_alternative_time_cost: False
# Homotopy Class Planner
enable_homotopy_class_planning: False
enable_multithreading: True
simple_exploration: False
max_number_classes: 4
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_keypoint_offset: 0.1
obstacle_heading_threshold: 0.45
visualize_hc_graph: False