TrajectoryPlannerROS:
min_vel_x: 0.2
- max_vel_x: 0.3
- min_vel_theta: -0.4
- max_vel_theta: 0.4
+ 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: 0.5 # used by rotate recovery
+ max_rotational_vel: 1.0 # used by rotate recovery
acc_lim_x: 10.07
acc_lim_y: 0.0
- acc_lim_theta: 12.00
+ acc_lim_theta: 6.00
holonomic_robot: false
+ # gdist_scale and pdist_scale parameters should assume meters
meter_scoring: true
xy_goal_tolerance: 0.20
yaw_goal_tolerance: 0.3
+ # 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: true
+
+ # 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
+
DWAPlannerROS:
acc_lim_x: 10.07
acc_lim_y: 0.0
- acc_lim_th: 12.00
+ acc_lim_th: 6.00
max_vel_x: 0.5
min_vel_x: 0.0 # no backward movement
max_trans_vel: 0.5
min_trans_vel: 0.2
- max_rot_vel: 0.5
+ max_rot_vel: 1.0
min_rot_vel: 0.4
- xy_goal_tolerance: 0.20
- yaw_goal_tolerance: 0.3
+ 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