TrajectoryPlannerROS:
min_vel_x: 0.2
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
acc_lim_x: 10.07
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
# 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: 0.0 # no backward movement
max_vel_y: 0.0
min_vel_y: 0.0
max_trans_vel: 0.5
min_trans_vel: 0.2
max_rot_vel: 1.0
min_rot_vel: 0.4
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.2
# 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