X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fbase_local_planner_params.yaml;h=18234088eae5148d365085886e2f23e2e6ea5819;hp=3b509c3ee603f5605462b5a1dbc5891e2b7069ce;hb=15ada84238a9182aecb2c6a715c2b9db77b2f3fc;hpb=483eaf7aa8ff347bee867cc5e79196cbe6e33dc3

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 3b509c3..1823408 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -1,13 +1,50 @@
 TrajectoryPlannerROS:
-  min_vel_x: 0.1
-  max_vel_x: 0.3
-  min_vel_theta: -0.4
-  max_vel_theta: 0.4
+  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: 2.5
+  acc_lim_x: 10.07
   acc_lim_y: 0.0
-  acc_lim_theta: 0.3
+  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: 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