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planner.yaml
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planner.yaml
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controller_frequency: 5.0
recovery_behavior_enabled: true
NavfnROS:
allow_unknown: true # Specifies whether or not to allow navfn to create plans that traverse unknown space.
default_tolerance: 0.1 # A tolerance on the goal point for the planner.
TrajectoryPlannerROS:
# Robot Configuration Parameters
acc_lim_x: 2.5
acc_lim_theta: 3.2
max_vel_x: 1.0
min_vel_x: 0.0
max_vel_theta: 1.0
min_vel_theta: -1.0
min_in_place_vel_theta: 0.2
holonomic_robot: false
escape_vel: -0.1
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.2
latch_xy_goal_tolerance: false
# Forward Simulation Parameters
sim_time: 2.0
sim_granularity: 0.02
angular_sim_granularity: 0.02
vx_samples: 6
vtheta_samples: 20
controller_frequency: 20.0
# Trajectory scoring parameters
meter_scoring: true # Whether the gdist_scale and pdist_scale parameters should assume that goal_distance and path_distance are expressed in units of meters or cells. Cells are assumed by default (false).
occdist_scale: 0.1 #The weighting for how much the controller should attempt to avoid obstacles. default 0.01
pdist_scale: 0.75 # The weighting for how much the controller should stay close to the path it was given . default 0.6
gdist_scale: 1.0 # The weighting for how much the controller should attempt to reach its local goal, also controls speed default 0.8
heading_lookahead: 0.325 #How far to look ahead in meters when scoring different in-place-rotation trajectories
heading_scoring: false #Whether to score based on the robot's heading to the path or its distance from the path. default false
heading_scoring_timestep: 0.8 #How far to look ahead in time in seconds along the simulated trajectory when using heading scoring (double, default: 0.8)
dwa: true #Whether to use the Dynamic Window Approach (DWA)_ or whether to use Trajectory Rollout
simple_attractor: false
publish_cost_grid_pc: true
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.25 #How far the robot must travel in meters before oscillation flags are reset (double, default: 0.05)
escape_reset_dist: 0.1
escape_reset_theta: 0.1
DWAPlannerROS:
# Robot configuration parameters
acc_lim_x: 2.5
acc_lim_y: 0
acc_lim_th: 3.2
max_vel_x: 0.5
min_vel_x: 0.0
max_vel_y: 0
min_vel_y: 0
max_trans_vel: 0.5
min_trans_vel: 0.1
max_rot_vel: 1.0
min_rot_vel: 0.2
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.1
xy_goal_tolerance: 0.2
latch_xy_goal_tolerance: false
# # Forward Simulation Parameters
# sim_time: 2.0
# sim_granularity: 0.02
# vx_samples: 6
# vy_samples: 0
# vtheta_samples: 20
# penalize_negative_x: true
# # Trajectory scoring parameters
# path_distance_bias: 32.0 # The weighting for how much the controller should stay close to the path it was given
# goal_distance_bias: 24.0 # The weighting for how much the controller should attempt to reach its local goal, also controls speed
# occdist_scale: 0.01 # The weighting for how much the controller should attempt to avoid obstacles
# forward_point_distance: 0.325 # The distance from the center point of the robot to place an additional scoring point, in meters
# stop_time_buffer: 0.2 # The amount of time that the robot must stThe absolute value of the veolicty at which to start scaling the robot's footprint, in m/sop before a collision in order for a trajectory to be considered valid in seconds
# scaling_speed: 0.25 # The absolute value of the veolicty at which to start scaling the robot's footprint, in m/s
# max_scaling_factor: 0.2 # The maximum factor to scale the robot's footprint by
# # Oscillation Prevention Parameters
# oscillation_reset_dist: 0.25 #How far the robot must travel in meters before oscillation flags are reset (double, default: 0.05)
Fast_RRTStarPlanner:
max_num_iter: 10000 # Integer: Maximum number of iterations
min_num_iter: 200 # Integer: Minimum number of iterations
world_near_radius: 2.0 # Double (meters): Search radius (in world coordinates)
world_dist_dichotomy: 0.05 # Double (meters): Dichotomy distance (in world coordinates), the minimum allowable distance between nodes created in CreateNode
world_expand_dist: 5.0 # Double (meters): Maximum distance to expand tree when adding new nodes
world_goal_accessible_dist: 0.25 # Double (meters): Threshold for considering goal position to be accessible from current position
goal_frequency: 0.2 # Double (meters): Frequency of random node being set to goal node
lethal_cost: 128 # Integer (between 0 and 255 inclusive): Cost at which to consider a cell inaccessible (greater than or equal to this value), FREE_SPACE = 0, INSCRIBED_INFLATED_OBSTACLE = 253, LETHAL_OBSTACLE = 254, NO_INFORMATION = 255