TebLocalPlannerROS:
# Misc
odom_topic: odom
map_frame: map # default odom
# Trajectory
teb_autosize: True
dt_ref: 0.3 #轨迹的局部分辨率,m
dt_hysteresis: 0.1 #dt_ref +-dt_hysteresis
max_samples: 500 # wiki not include ??
min_samples:3 #int, default: 3
global_plan_overwrite_orientation: True
allow_init_with_backwards_motion: False
max_global_plan_lookahead_dist: 2.0 #localcost half size
global_plan_viapoint_sep: -1 #负数是禁用; 如果正, 路径跟随模式时,决定了全局路径的分辨率? 与weight_viapoint 有关, defines the minimum separation between two consecutive via-points along the global plan (in meters). E.g. by setting the value to 0.5,
global_plan_prune_distance: 1
exact_arc_length: False # 默认false, 用于欧几里得近似, 如果为真,规划器在速度、加速度和转弯率计算中使用精确的弧长[->增加的CPU时间],否则使用欧几里德近似
feasibility_check_no_poses: 4 # 预测plan 上哪些点检查可行性
publish_feedback: False # 默认false; True 用来检查完整轨迹和激活的障碍物, 看publisher 即可
shrink_horizon_backup: True # 当planner infeasibility时候允许临时缩小视野50%
shrink_horizon_min_duration: 10 #允许缩小视野的最小时间
# Robot
max_vel_x: 0.4
max_vel_x_backwards: 0.2
max_vel_y: 0.0
max_vel_theta: 0.3
acc_lim_x: 0.5
acc_lim_theta: 0.5
min_turning_radius: 0.0 # diff-drive robot (can turn on place!)
footprint_model:
type: "point" # ~/teb_markers 查看footprint rviz
# GoalTolerance
xy_goal_tolerance: 0.2
yaw_goal_tolerance: 0.1
free_goal_vel: False # default false, 允许机器人以最大速度驶向目的地
complete_global_plan: True
# Obstacles
min_obstacle_dist: 0.25 # This value must also include our robot radius, since footprint_model is set to "point"; If model is Circle this valude should subtract radius
inflation_dist: 0.6 # a little bigger than min_obstacle_dist
include_costmap_obstacles: True # 默认True, 与costmap_conventor 话题/obstacles 有关
costmap_obstacles_behind_robot_dist: 1.2
obstacle_poses_affected: 30 #障碍物与附近路径点的关联影响, 策略从kinetic 版本已经更新, 该接口已经废弃, 只有legacy_obstacle_association 为True 时, 采取旧障碍物关联策略
dynamic_obstacle_inflation_dist: 0.6 #wiki not include ??
include_dynamic_obstacles: False #默认false, 如果为True, 与costmap_conventer /obstacles 有关
costmap_converter_plugin: ""
costmap_converter_spin_thread: True
costmap_converter_rate: 5
# legacy obstacle and pose association strategy
legacy_obstacle_association: false #默认false, kinetic 之前版本的策略, 新版本默认不用
obstacle_poses_affected: 30 #legacy 对应
obstacle_association_force_inclusion_factor: 1.5 #non-legacy, 即新策略, 2*min_obstacle_dist 之内的障碍物关联优化
obstacle_association_cutoff_factor: 5 #non-legay, 即新策略, 超过5*min_obstacle_dist 的障碍物忽略
# Optimization
no_inner_iterations: 5
no_outer_iterations: 4
optimization_activate: True
optimization_verbose: False
penalty_epsilon: 0.1
obstacle_cost_exponent: 4
weight_max_vel_x: 2
weight_max_vel_theta: 1
weight_acc_lim_x: 1
weight_acc_lim_theta: 1
weight_kinematics_nh: 1000 #按照非全向运动学来
weight_kinematics_forward_drive: 1 #允许后退
weight_kinematics_turning_radius: 1 #only for carlike
weight_optimaltime: 1 # must be > 0
weight_shortest_path: 0
weight_obstacle: 100
weight_inflation: 0.2
weight_dynamic_obstacle: 10
weight_dynamic_obstacle_inflation: 0.2
weight_viapoint: 1 # path following mode
weight_adapt_factor: 2
optimization_activate: False # 激活优化
optimization_verbose: False # 默认假
# Homotopy Class Planner
enable_homotopy_class_planning: True # default true, 消耗更多CPU, 别用了
enable_multithreading: True
max_number_classes: 4 # 计算不过来的时候, 设为2
selection_cost_hysteresis: 1.0
selection_prefer_initial_plan: 0.9
selection_obst_cost_scale: 100.0
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
oscillation_recovery: True
oscillation_v_eps: 0.1
oscillation_omega_eps: 0.1
oscillation_recovery_min_duration: 10
oscillation_filter_duration: 10
teb tuning
猜你喜欢
转载自blog.csdn.net/qq_35508344/article/details/107184700
今日推荐
周排行