Skip to content

Commit

Permalink
added units to maxl config doc
Browse files Browse the repository at this point in the history
  • Loading branch information
@Divyanshu-Sahu
Divyanshu-Sahu committed Dec 8, 2020
1 parent 3a6ab94 commit 30d050e
Showing 1 changed file with 31 additions and 33 deletions.
64 changes: 31 additions & 33 deletions docs/source/config_maxl.rst
View file
Original file line number Diff line number Diff line change
Expand Up @@ -33,22 +33,34 @@ Robot Parameter Description
+------------------------+------------+--------------------------------------------------------------------------------------+
| Parameter | Units | Description |
+========================+============+======================================================================================+
| maxSpeed | S.I | Maximum possible linear velocity |
| maxSpeed | S.I (m/s) | Maximum possible linear velocity |
+------------------------+------------+--------------------------------------------------------------------------------------+
| maxAccel | S.I | Maximum possible linear acceleration |
| maxAccel | S.I (m/s^2)| Maximum possible linear acceleration |
+------------------------+------------+--------------------------------------------------------------------------------------+

3. Inflation
3. Turning Parameters
^^^^^^^^^^^^^^^^^^^^^^
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| Parameter | Units | Description |
+=====================================+========================+============================================================================+
| yaw_gain | (Numeric) eg.2.5 | Yaw gain used when robot is in motion |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| stop_yaw_gain | (Numeric) eg. 0.6 | Yaw gain used when robot is stopped/almost stopped |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| max_yaw_rate | (Numeric) eg. 0.5 | Maximum angular velocity for the robot |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+

4. Inflation
^^^^^^^^^^^^^
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| Parameter | Units | Description |
+=====================================+========================+============================================================================+
| x_inflate | (Numeric) eg. 0.16 | Obstacle Inflation in the x direction |
| x_inflate | S.I (m) | Obstacle Inflation in the x direction |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| y_inflate | (Numeric) eg. 0.80 | Obstacle Inflation in the y direction |
| y_inflate | S.I (m) | Obstacle Inflation in the y direction |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+

4. Frame Names
5. Frame Names
^^^^^^^^^^^^^^^
+------------------------+------------+--------------------------------------------------------------------------------------+
| Parameter | Units | Description |
Expand All @@ -62,7 +74,7 @@ Robot Parameter Description
| laser_frame | String | Name of the rpLidar Sensor frame |
+------------------------+------------+--------------------------------------------------------------------------------------+

5. Topic Names
6. Topic Names
^^^^^^^^^^^^^^^
+------------------------+------------+--------------------------------------------------------------------------------------+
| Parameter | Units | Description |
Expand All @@ -74,37 +86,24 @@ Robot Parameter Description
| scanTopic | String | The topic name which publishes the rpLidar sensor data |
+------------------------+------------+--------------------------------------------------------------------------------------+

6. Robot Footprint
7. Robot Footprint
^^^^^^^^^^^^^^^^^^
+------------------------+--------------------------+--------------------------------------------------------------------------------------+
| Parameter | Units | Description |
+========================+==========================+======================================================================================+
| vehicleLength | S.I | Length of the vehicle |
| vehicleLength | S.I (m) | Length of the vehicle |
+------------------------+--------------------------+--------------------------------------------------------------------------------------+
| vehicleWidth | S.I | Width of the vehicle |
| vehicleWidth | S.I (m) | Width of the vehicle |
+------------------------+--------------------------+--------------------------------------------------------------------------------------+


7. Turning Parameters
^^^^^^^^^^^^^^^^^^^^^^
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| Parameter | Units | Description |
+=====================================+========================+============================================================================+
| yaw_gain | (Numeric) eg.2.5 | Yaw gain used when robot is in motion |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| stop_yaw_gain | (Numeric) eg. 0.6 | Yaw gain used when robot is stopped/almost stopped |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| max_yaw_rate | (Numeric) eg. 0.5 | Maximum angular velocity for the robot |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+

8. Obstacle Ranges
^^^^^^^^^^^^^^^^^^^^^^
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| Parameter | Units | Description |
+=====================================+========================+============================================================================+
| obstacle_horizon | S.I | Parameter used for cropping the pointcloud |
| obstacle_horizon | S.I (m) | Parameter used for cropping the pointcloud |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| min_path_range | S.I | Minimum path range for finding the path |
| min_path_range | S.I (m) | Minimum path range for finding the path |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| initial_path_scale | (Numeric) eg. 1.0 | Initial path scale value. Path Scales scale the paths and distances. |
| | | Low pathScale means path elongation and vice-versa. |
Expand All @@ -116,27 +115,26 @@ Robot Parameter Description
| path_scale_step | (Numeric) eg. 0.25 | Path Scale step value |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+


9. Lookahead Parameters
^^^^^^^^^^^^^^^^^^^^^^^
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| Parameter | Units | Description |
+=====================================+========================+============================================================================+
| min_lookahead | S.I | The minimum lookahead on the global path for the robot |
| min_lookahead | S.I (m) | The minimum lookahead on the global path for the robot |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| max_lookahead | S.I | The minimum lookahead on the global path for the robot |
| max_lookahead | S.I (m) | The minimum lookahead on the global path for the robot |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| closest_point_index_search | (Numeric) eg. 10 | Search for closest point index within this range of previous closest point |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| min_radius | S.I | Minimum radius the robot can take from current to goal pose |
| min_radius | S.I (m) | Minimum radius the robot can take from current to goal pose |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| max_radius | S.I | Maximum radius the robot can take from current to goal pose |
| max_radius | S.I (m) | Maximum radius the robot can take from current to goal pose |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| max_omega_radius | S.I | Radius set when condition for straight line is satisfied |
| max_omega_radius | S.I (m) | Radius set when condition for straight line is satisfied |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| max_y_deviation | S.I | Maximum deviation in the lateral direction |
| max_y_deviation | S.I (m) | Maximum deviation in the lateral direction |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| lookahead_point_distance | S.I | Used to find the point in the global path to follow |
| lookahead_point_distance | S.I (m) | Used to find the point in the global path to follow |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+

10. MaxL Parameters
Expand Down

0 comments on commit 30d050e

Please sign in to comment.