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- TrajectoryPlannerROS:
- #Independent settings for the local costmap
- transform_tolerance: 0.3
- sim_time: 1.7
- sim_granularity: 0.025
- dwa: true
- vx_samples: 3
- vtheta_samples: 20
- max_vel_x: 0.65
- min_vel_x: 0.1
- max_rotational_vel: 1.0
- min_in_place_rotational_vel: 0.4
- xy_goal_tolerance: 0.4
- yaw_goal_tolerance: 0.05
- goal_distance_bias: 0.8
- path_distance_bias: 0.6
- occdist_scale: 0.01
- heading_lookahead: 0.325
- oscillation_reset_dist: 0.05
- holonomic_robot: true
- acc_lim_th: 3.2
- acc_lim_x: 2.5
- acc_lim_y: 2.5
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