config_tentabot_server_rosbot.yaml

## Robot Parameters
local_map_msg: "/octomap_tentabot"

# NOTE: Expected to be available in ROS paremeter server
#       by config files task_nav, map_utility
#world_frame_name: ""
#n_goal: 1
#goal1_x: 0.0
#goal1_y: 0.0
#goal1_z: 1.0
#goal1_yaw: 0.0
#world_name: ""
#robot_name: ""
#robot_frame_name: ""
#robot_bbx_x_min: 0.0
#robot_bbx_x_max: 0.0
#robot_bbx_y_min: 0.0
#robot_bbx_y_max: 0.0
#robot_bbx_z_min: 0.0
#robot_bbx_z_max: 0.0
#robot_max_lat_velo: 0.0
#robot_max_lat_acc: 0.0
#robot_max_yaw_velo: 0.0
#robot_max_yaw_acc: 0.0
#robot_odometry_msg: "/turtlebot3_0/odom"
#robot_pose_control_msg: ""
#robot_velo_control_msg: "/turtlebot3_0/cmd_vel"

## Process Parameters
visu_flag: true 
time_limit: 180 
dt: 0.1 
goal_close_threshold: 0.25
ground_collision_flag: false
ground_collision_threshold: 0.1
heuristic_data_path: "dataset/heuristic/rosbot/"
drl_service_flag: false

## Trajectory Sampling Parameters
trajectory_sampling_dataset_path: "dataset/trajectory_sampling/rosbot/"
tlen: 10
tsamp_cnt: 20

#trajectory_gen_type: "geometric"
tyaw: 0.0 
tpitch: 0.0
tyaw_cnt: 1
tpitch_cnt: 1

trajectory_gen_type: "kinematic"
ttime: 8
lat_velo_samp_cnt: 5
ang_velo_samp_cnt: 21

## Offline Tuning Parameters
trajectory_data_path: "dataset/trajectory_sampling/rosbot/20220402_230708/"
max_occupancy_belief_value: 100
sweight_max: 1 
sweight_scale: 10 
egrid_vdim: 0.1 

pdist_x_min: -0.15
pdist_x_max: 0.15
pdist_y_min: -0.17
pdist_y_max: 0.17
pdist_z_min: -0.0 
pdist_z_max: 0.35

sdist_x_min: -0.4
sdist_x_max: 0.4
sdist_y_min: -0.5
sdist_y_max: 0.5
sdist_z_min: -0.0
sdist_z_max: 1.0 

## Online tuning Parameters
tbin_obs_cnt_threshold: 1 
crash_dist_scale: 0.8
occupancy_scale: 3
close_scale: 5
smooth_scale: 1

### DRL Parameters 
### NOTE: Be sure that -> drl_service_flag: true
### TODO: Add robot and task in openai_ros!