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teb_local_planner_params.yaml
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TebLocalPlannerROS:
odom_topic: odom
# Trajectory
teb_autosize: true
dt_ref: 0.45 # 0.3
dt_hysteresis: 0.1
min_samples: 4
max_samples: 100
global_plan_overwrite_orientation: true
allow_init_with_backwards_motion: true
max_global_plan_lookahead_dist: 7
global_plan_viapoint_sep: -1
global_plan_prune_distance: 1
exact_arc_length: false
feasibility_check_no_poses: 4
publish_feedback: false
# Robot
max_vel_x: 0.8 # 0.6
max_vel_x_backwards: 0.4
max_vel_y: 0.0
max_vel_theta: 0.3 # the angular velocity is also bounded by min_turning_radius in case of a carlike robot (r = v / omega)
acc_lim_x: 0.08 # 0.1
acc_lim_theta: 0.1
# ********************** Carlike robot parameters ********************
min_turning_radius: 2.5 # 2.55 # Min turning radius of the carlike robot (compute value using a model or adjust with rqt_reconfigure manually)
wheelbase: 1.582 # 1.6 # Wheelbase of our robot
cmd_angle_instead_rotvel: true # stage simulator takes the angle instead of the rotvel as input (twist message)
# ********************************************************************
footprint_model:
type: "two_circles"
front_offset: 1.5
front_radius: 0.4
rear_offset: 0.0
rear_radius: 0.45
#type: "line"
#line_start: [0.0, 0.0] # for type "line"
#line_end: [1.582, 0.0] # for type "line"
# GoalTolerance
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.15
free_goal_vel: true
complete_global_plan: false
# Obstacles
min_obstacle_dist: 0.1
inflation_dist: 0.2
include_costmap_obstacles: true
costmap_obstacles_behind_robot_dist: 10
legacy_obstacle_association: false
obstacle_poses_affected: 15 # number of teb poses taken into account for each obstacle
# (only if legacy_obstacle_association=true)
obstacle_association_force_inclusion_factor: 20 # all the obstacles within this factor times min_obstacle_dist are taken into account
# (only if legacy_obstacle_association=false)
obstacle_association_cutoff_factor: 40 # min_obstacle_dist limit factor to take into account obstacles
include_dynamic_obstacles: false
dynamic_obstacle_inflation_dist: 0.6 # include_dynamic_obstacles=true
costmap_converter_plugin: "" # disabled
costmap_converter_spin_thread: true
costmap_converter_rate: 5
# Optimization
no_outer_iterations: 8 # 3
no_inner_iterations: 4 # 4
optimization_activate: true
optimization_verbose: false
penalty_epsilon: 0.06 # 0.1
obstacle_cost_exponent: 4
weight_max_vel_x: 1
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 100 # 1000
weight_kinematics_forward_drive: 1 # 10
weight_kinematics_turning_radius: 1.5 # 1.5
weight_optimaltime: 1 # 1.5
weight_shortest_path: 0
weight_obstacle: 1 # 50
weight_inflation: 1 # 0.1
# weight_dynamic_obstacle: 10 # not in use yet
# weight_dynamic_obstacle_inflation: 0.2
# weight_viapoint: 1
weight_adapt_factor: 1.1
# Homotopy Class Planner
enable_homotopy_class_planning: false
enable_multithreading: True
max_number_classes: 4
selection_cost_hysteresis: 1.0
selection_prefer_initial_plan: 0.95
selection_obst_cost_scale: 1.0
selection_alternative_time_cost: False
roadmap_graph_no_samples: 15
roadmap_graph_area_width: 5
roadmap_graph_area_length_scale: 1.0
h_signature_prescaler: 0.5
h_signature_threshold: 0.1
obstacle_heading_threshold: 0.45
switching_blocking_period: 0.0
viapoints_all_candidates: True
delete_detours_backwards: True
max_ratio_detours_duration_best_duration: 3.0
visualize_hc_graph: False
visualize_with_time_as_z_axis_scale: False
# 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