desired_linear_vel: |
- Description
The desired maximum linear velocity (m/s) to use.
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lookahead_dist: |
- Description
The lookahead distance (m) to use to find the lookahead point when use_velocity_scaled_lookahead_dist is false .
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min_lookahead_dist: |
- Description
The minimum lookahead distance (m) threshold when use_velocity_scaled_lookahead_dist is true .
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max_lookahead_dist: |
- Description
The maximum lookahead distance (m) threshold when use_velocity_scaled_lookahead_dist is true .
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lookahead_time: |
- Description
The time (s) to project the velocity by when use_velocity_scaled_lookahead_dist is true . Also known as the lookahead gain.
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rotate_to_heading_angular_vel: |
- Description
If use_rotate_to_heading is true , this is the angular velocity to use.
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transform_tolerance: |
- Description
The TF transform tolerance (s).
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use_velocity_scaled_lookahead_dist: |
- Description
Whether to use the velocity scaled lookahead distances or constant lookahead_distance .
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min_approach_linear_velocity: |
- Description
The minimum velocity (m/s) threshold to apply when approaching the goal to ensure progress. Must be > 0.01 .
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approach_velocity_scaling_dist: |
- Description
The distance (m) left on the path at which to start slowing down. Should be less than the half the costmap width.
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use_collision_detection: |
- Description
Whether to enable collision detection.
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max_allowed_time_to_collision_up_to_carrot: |
- Description
The time (s) to project a velocity command forward to check for collisions when use_collision_detection is true . Pre-Humble , this was max_allowed_time_to_collision .
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use_regulated_linear_velocity_scaling: |
- Description
Whether to use the regulated features for path curvature (e.g. slow on high curvature paths).
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use_cost_regulated_linear_velocity_scaling: |
- Description
Whether to use the regulated features for proximity to obstacles (e.g. slow in close proximity to obstacles).
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regulated_linear_scaling_min_radius: |
- Description
The turning radius (m) for which the regulation features are triggered when use_regulated_linear_velocity_scaling is true . Remember, sharper turns have smaller radii.
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regulated_linear_scaling_min_speed: |
- Description
The minimum speed (m/s) for which any of the regulated heuristics can send, to ensure process is still achievable even in high cost spaces with high curvature. Must be > 0.1 .
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use_fixed_curvature_lookahead: |
- Description
Whether to use a fixed lookahead distance to compute curvature from. Since a lookahead distance may be set to vary on velocity, it can introduce a reference cycle that can be problematic for large lookahead distances.
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curvature_lookahead_dist: |
- Description
Distance to look ahead on the path to detect curvature.
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use_rotate_to_heading: |
- Description
Whether to enable rotating to rough heading and goal orientation when using holonomic planners. Recommended on for all robot types that can rotate in place.
Note: both use_rotate_to_heading and allow_reversing cannot be set to true at the same time as it would result in ambiguous situations.
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allow_reversing: |
- Description
Enables the robot to drive in the reverse direction, when the path planned involves reversing (which is represented by orientation cusps). Variants of the smac_planner comes with the support of reversing. Checkout the :ref:`configuring_smac_planner` to know more.
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rotate_to_heading_min_angle: |
Type
|
Default
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double
|
0.785
|
- Description
The difference in the path orientation and the starting robot orientation (radians) to trigger a rotate in place, if use_rotate_to_heading is true .
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max_angular_accel: |
- Description
Maximum allowable angular acceleration (rad/s/s) while rotating to heading, if use_rotate_to_heading is true .
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cancel_deceleration: |
- Description
Linear deceleration (m/s/s) to apply when the goal is canceled.
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max_robot_pose_search_dist: |
Type
|
Default
|
double
|
Local costmap max extent (max(width, height) / 2)
|
- Description
Upper bound on integrated distance along the global plan to search for the closest pose to the robot pose. This should be left as the default unless there are paths with loops and intersections that do not leave the local costmap, in which case making this value smaller is necessary to prevent shortcutting. If set to -1 , it will use the maximum distance possible to search every point on the path for the nearest path point.
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interpolate_curvature_after_goal: |
- Description
Interpolate a carrot after the goal dedicated to the curvate calculation (to avoid oscilaltions at the end of the path). For visualization, it will be published on the /curvature_lookahead_point topic similarly to /lookahead_point
Note: Needs use_fixed_curvature_lookahead to be true
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