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Do you have these set;

  # Goal tolerance parameters in meters (lower means closer and harder/slower to achieve)
  # Check: stay outside footprint
  yaw_goal_tolerance: 0.3
  xy_goal_tolerance:  0.4
  latch_xy_goal_tolerance: false  # do not rotate on finding goal

  # Forward Simulation 
  # Check: minimum velocity multiplied by the sim_period is less than twice the tolerance on a goal. 
  sim_time: 10.0                   # The amount of time to forward-simulate trajectories in seconds
  sim_granularity: 0.1             # The step size, in meters, to take between points on a given trajectory
  angular_sim_granularity: 0.2     # The step size, in radians, to take between angular samples on a given trajectory.
  vx_samples: 10                   # The number of samples to use when exploring the x velocity space
  vtheta_samples: 10               # The number of samples to use when exploring the theta velocity space


  # Trajectory Scoring Parameters
  path_distance_bias: .3           # The weighting for how much the controller should stay close to the path it was given
  goal_distance_bias: .3           # The weighting for how much the controller should attempt to reach its local goal,controls speed
  occdist_scale:          1
  forward_point_distance: 1
  meter_scoring:        true    # If true, distances are expressed in meters; otherwise grid cells
  publish_cost_grid:    true 
  prune_plan:           false