# gdist_scale and pdist_scale parameters should assume meters
meter_scoring: true
- xy_goal_tolerance: 0.20
- yaw_goal_tolerance: 0.3
+ 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: true
+ 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: 12.00
+ acc_lim_th: 6.00
max_vel_x: 0.5
min_vel_x: 0.0 # no backward movement
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