X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fbase_local_planner_params.yaml;h=bc544b8b5b38f947fe3ed4336cec678194a7ea95;hp=0ce322b1d25fd45cc313cccf30f7c46c5a1682cb;hb=55f32e3e4f36599dcd866adb64b75c9d905f8358;hpb=670ead7985c1c4df661d9e95e20a0b805c0347f8

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 0ce322b..bc544b8 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -6,7 +6,7 @@ TrajectoryPlannerROS:
   min_in_place_vel_theta: 0.4
   max_rotational_vel: 1.0 # used by rotate recovery
 
-  acc_lim_x: 10.07
+  acc_lim_x: 0.14
   acc_lim_y: 0.0
   acc_lim_theta: 6.00
 
@@ -14,19 +14,31 @@ TrajectoryPlannerROS:
   # 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
@@ -40,3 +52,8 @@ 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