wt_node: Implement docking check

[ros_wild_thumper.git] / config / base_local_planner_params.yaml

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index b48a72f681513ff5b6cad33745371744141ac0ad..b163e5e1e649c8e14cc591ce1c8852566d7df1f0 100644 (file)
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -8,18 +8,31 @@ TrajectoryPlannerROS:
 
   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
+  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
 
 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
@@ -33,3 +46,8 @@ DWAPlannerROS:
 
   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