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=bbd95c1c339522ef49e863a4ac614b52133d3062;hb=8f08ba32c7c05b60e532a85264e648147227b8bb;hpb=3e7d2e6fd87ff390509020f73776417cea105d89

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index bbd95c1..bc544b8 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -1,25 +1,44 @@
 TrajectoryPlannerROS:
   min_vel_x: 0.2
-  max_vel_x: 0.3
-  min_vel_theta: -0.4
-  max_vel_theta: 0.4
+  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: 0.5 # used by rotate recovery
+  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: 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
+
+  # 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
@@ -28,8 +47,13 @@ DWAPlannerROS:
 
   max_trans_vel: 0.5
   min_trans_vel: 0.2
-  max_rot_vel: 0.5
+  max_rot_vel: 1.0
   min_rot_vel: 0.4
 
-  xy_goal_tolerance: 0.20
-  yaw_goal_tolerance: 0.3
+  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