-
Notifications
You must be signed in to change notification settings - Fork 1
/
config.yaml
134 lines (120 loc) · 3.44 KB
/
config.yaml
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
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
gxt:
show_map : true
show_button : true
draw_arrow : false
g2o_or_ceres : "ceres" # ceres not support homotopy_class_planning! Will auto use g2o while using homotopy_class_planning!
robot_radius : 0.15
start_x : 0
start_y : 0
start_theta : 0
end_x : 0.5
end_y : 0.5
end_theta : 0
trajectory:
teb_autosize : true
dt_ref : 0.3
dt_hysteresis : 0.1
min_samples : 3
max_samples : 500
global_plan_overwrite_orientation : true
allow_init_with_backwards_motion : false
global_plan_viapoint_sep : -0.1
via_points_ordered : false
max_global_plan_lookahead_dist : 3
global_plan_prune_distance : 1
exact_arc_length : false
force_reinit_new_goal_dist : 1
force_reinit_new_goal_angular : 0.78
feasibility_check_no_poses : 5
publish_feedback : false
min_resolution_collision_check_angular : 3.1415
control_look_ahead_poses : 1
robot:
max_vel_x : 0.25
max_vel_x_backwards : 0.1
max_vel_y : 0.0
max_vel_theta : 0.3
acc_lim_x : 0.5
acc_lim_y : 0.5
acc_lim_theta : 0.5
min_turning_radius : 0
wheelbase : 1.0
cmd_angle_instead_rotvel : false
is_footprint_dynamic : false
goal_tolerance:
xy_goal_tolerance : 0.1
yaw_goal_tolerance : 0.1
free_goal_vel : false
complete_global_plan : true
obstacles:
min_obstacle_dist : 0.05
inflation_dist : 0.08
dynamic_obstacle_inflation_dist : 0.1
include_dynamic_obstacles : false
include_costmap_obstacles : true
costmap_obstacles_behind_robot_dist : 1.5
obstacle_poses_affected : 30
legacy_obstacle_association : false
obstacle_association_force_inclusion_factor : 1.5
obstacle_association_cutoff_factor : 5.0
costmap_converter_plugin : ""
costmap_converter_spin_thread : true
costmap_converter_rate : 5
optim:
no_inner_iterations : 5
no_outer_iterations : 4
optimization_activate : true
optimization_verbose : false
penalty_epsilon : 0.05
weight_max_vel_x : 2
weight_max_vel_y : 1
weight_max_vel_theta : 1
weight_acc_lim_x : 1
weight_acc_lim_y : 1
weight_acc_lim_theta : 1
weight_kinematics_nh : 1000
weight_kinematics_forward_drive : 900
weight_kinematics_turning_radius : 1
weight_optimaltime : 1
weight_shortest_path : 29
weight_obstacle : 50
weight_inflation : 0.1
weight_dynamic_obstacle : 50
weight_dynamic_obstacle_inflation : 0.1
weight_viapoint : 1
weight_prefer_rotdir : 50
weight_adapt_factor : 2.0
obstacle_cost_exponent : 1.0
hcp:
enable_homotopy_class_planning : false
enable_multithreading : true
simple_exploration : false
max_number_classes : 5
selection_cost_hysteresis : 1.0
selection_prefer_initial_plan : 0.95
selection_obst_cost_scale : 2.0
selection_viapoint_cost_scale : 1.0
selection_alternative_time_cost : false
obstacle_keypoint_offset : 0.1
obstacle_heading_threshold : 0.45
roadmap_graph_no_samples : 15
roadmap_graph_area_width : 5
roadmap_graph_area_length_scale : 1.0
h_signature_prescaler : 1.0
h_signature_threshold : 0.1
switching_blocking_period : 0.0
viapoints_all_candidates : true
visualize_hc_graph : false
visualize_with_time_as_z_axis_scale : 0.0
delete_detours_backwards : true
detours_orientation_tolerance : 1.571
length_start_orientation_vector : 0.4
max_ratio_detours_duration_best_duration : 3.0
recovery:
shrink_horizon_backup : true
shrink_horizon_min_duration : 10
oscillation_recovery : true
oscillation_v_eps : 0.1
oscillation_omega_eps : 0.1
oscillation_recovery_min_duration : 10
oscillation_filter_duration : 10