OpendriveGlobalPlanner.cfg 1.16 KB
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#!/usr/bin/env python
PACKAGE = "iri_opendrive_global_planner"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()
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enum_cost_type = gen.enum([ 
gen.const("dist", int_t, 0, "Use only distance to compute costs"),
gen.const("time",  int_t, 1, "Use distance and speed to compute costs"),
], "Possible costs types.")


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gen.add("opendrive_file", str_t, 0, "Opendrive map file", "")
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gen.add("angle_tol", double_t, 0, "Angle tolerance to find start and end positions on the road map", 0.5, 0.1, 1.5707)
gen.add("dist_tol", double_t, 0, "Distance tolerance to find start and end positions on the road map", 3.0, 0.5, 10.0)
gen.add("multi_hyp", bool_t, 0, "Use multi hypothesis path search", False)
gen.add("resolution", double_t, 0, "Resolution of the generated path", 0.1, 0.01, 1.0)
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gen.add("scale_factor", double_t, 0, "Scale factor of the input road description", 1.0, 0.01, 10.0)
gen.add("min_road_length", double_t, 0, "Minimum road length to take it into account", 0.1, 0.01, 1.0)
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gen.add("cost_type", int_t, 0, "Cost type", 0, 0, 1, edit_method=enum_cost_type)
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exit(gen.generate(PACKAGE, "iri_opendrive_global_planner", "OpendriveGlobalPlanner"))