From 3fbca857b22be1ef8582bd40349a049cce0d4168 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 23 Sep 2021 11:05:59 +0200
Subject: [PATCH] Add sbpl yaml default parameters

---
 params/global_planner/sbpl_params.yaml | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/params/global_planner/sbpl_params.yaml b/params/global_planner/sbpl_params.yaml
index 7a04ffd..6ed3571 100644
--- a/params/global_planner/sbpl_params.yaml
+++ b/params/global_planner/sbpl_params.yaml
@@ -1,2 +1,11 @@
 base_global_planner: "SBPLLatticePlanner"
 SBPLLatticePlanner:
+  planner_type: "ADPlanner"
+  allocated_time: 10
+  initial_epsilon: 3.0
+  environment_type: "XYThetaLattice"
+  forward_search: false
+  force_scratch_limit: 500
+  nominalvel_mpersecs: 0.4
+  timetoturn45degsinplace_secs: 0.6
+  lethal_obstacle: 255
-- 
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