TrajectoryPlannerROS: min_vel_x: 0.05 max_vel_x: 0.5 min_vel_theta: -1.0 max_vel_theta: 1.0 min_in_place_vel_theta: 0.4 max_rotational_vel: 1.0 # used by rotate recovery escape_vel: 0.0 # Speed used for driving during escapes in meters/sec. Will move slowly even when the static map shows it as blocked acc_lim_x: 0.14 acc_lim_y: 0.0 acc_lim_theta: 6.00 holonomic_robot: false # gdist_scale and pdist_scale parameters should assume meters meter_scoring: true xy_goal_tolerance: 0.15 yaw_goal_tolerance: 0.1 # If goal tolerance is latched, if the robot ever reaches the goal xy location it will simply rotate in place, even if it ends up outside the goal tolerance while it is doing so. latch_xy_goal_tolerance: true # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01 occdist_scale: 0.02 # Whether to score based on the robot's heading to the path or its distance from the path, default: false heading_scoring: false # How far to look ahead in time in seconds along the simulated trajectory when using heading scoring, default: 0.1 heading_scoring_timestep: 0.3 # How far the robot must travel in meters before oscillation flags are reset, default: 0.05 oscillation_reset_dist: 0.1 # The step size, in meters, to take between points on a given trajectory, default: 0.025 sim_granularity: 0.05 # The step size, in radians, to take between angular samples on a given trajectory, default: sim_granularity angular_sim_granularity: 0.05 DWAPlannerROS: acc_lim_x: 10.07 acc_lim_y: 0.0 acc_lim_th: 6.00 max_vel_x: 0.5 min_vel_x: 0.1 max_vel_y: 0.0 min_vel_y: 0.0 max_trans_vel: 0.5 min_trans_vel: 0.1 max_rot_vel: 1.0 min_rot_vel: 0.4 xy_goal_tolerance: 0.15 yaw_goal_tolerance: 0.1 # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01 occdist_scale: 0.02 # The weighting for how much the controller should stay close to the path it was given, default: 32.0 path_distance_bias: 64.0 PoseFollower: holonomic: false max_vel_lin: 0.5 max_vel_th: 1.0 min_vel_lin: 0.0 min_vel_th: 0.0 tolerance_trans: 0.15 tolerance_rot: 0.1 tolerance_timeout: 0.1 trans_stopped_velocity: 0.001 rot_stopped_velocity: 0.001 allow_backwards: false # If true, turn in place to face the new goal instead of arching towards it turn_in_place_first: false # If turn_in_place_first is true, turn in place if our heading is more than this far from facing the goal location max_heading_diff_before_moving: 0.175 # Gain factor for translation component of output velocities 0..20 k_trans: 1.0 # Gain factor for rotation component of output velocities: 0..20 k_rot: 2.0 collision_planner: # =TrajectoryPlannerROS holonomic_robot: false meter_scoring: true xy_goal_tolerance: 0.15 yaw_goal_tolerance: 0.1 heading_scoring: false heading_scoring_timestep: 0.3 oscillation_reset_dist: 0.1 sim_granularity: 0.05 angular_sim_granularity: 0.05