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=b48a72f681513ff5b6cad33745371744141ac0ad;hb=15ada84238a9182aecb2c6a715c2b9db77b2f3fc;hpb=80b61518513631afbd8acdcab2b23a53266080ca

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index b48a72f..1823408 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -8,18 +8,28 @@ 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
 
+  # 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
@@ -33,3 +43,8 @@ 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