5156a8d766
- Lightweight MPPI (200 trajectories, 15 steps, endpoint path_align) - adaptive exploration (more random when stuck) - fence-line Hough detection + geometric correction - scan hit points marked at 255 immediately - forward half-step pre-check for obstacle avoidance - Ackermann constraint |wz| <= |vx|/min_turn_r - XORshift RNG (stdlib broken on ARM)
5 lines
160 B
YAML
5 lines
160 B
YAML
nav_lite_node:
|
|
ros__parameters:
|
|
map_file: "" # PGM path, set via launch argument
|
|
lookahead: 0.5 # Pure Pursuit lookahead distance (m)
|