ackermann_params.yaml 959 Bytes
Newer Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
base_local_planner: "AckermannPlannerROS"

AckermannPlannerROS:
  max_sim_time: 3.0
  min_sim_time: 1.0
  sim_granularity: 0.2
  angular_sim_granularity: 0.02

  path_distance_bias: 50.0
  goal_distance_bias: 10.0
  occdist_scale: 0.05

#  stop_time_buffer: 
  oscillation_reset_dist: 0.002
  oscillation_reset_angle: 0.001

#  forward_point_distance:

#  scaling_speed:
#  max_scaling_factor:

  trans_vel_samples: 31
  steer_angle_samples: 21

  prune_plan: true
26
  xy_goal_tolerance: 0.1
27
28
29
30
31
32
33
  yaw_goal_tolerance: 0.5
  trans_stopped_vel: 0.1
  rot_stopped_vel: 0.1

  restore_defaults: false

  max_trans_vel: 1.0
34
  min_trans_vel: -1.0
35
36
37
38
39
40
41
42
43
44
  max_trans_acc: 0.2
  max_steer_angle: 0.4
  min_steer_angle: -0.4
  max_steer_vel: 0.3
  min_steer_vel: -0.3
  max_steer_acc: 1.0
  axis_distance: 0.3662
  wheel_distance: 0.216
  wheel_radius: 0.05

45
  split_ignore_length: 0.1
46
47
48
49
50
51
52
53

  cmd_vel_avg: 1
  odom_avg: 1

  planner_patience: 5

  hdiff_scale: 0.5
  heading_points: 8