forked from zbw/yiliao2026
68 lines
2.0 KiB
YAML
68 lines
2.0 KiB
YAML
grid_astar_theta_planner:
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ros__parameters:
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use_sim_time: false
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# Odom-only real-robot test:
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# - /odom is the only localization source.
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# - planner_odom_map_tf publishes map->odom from the provided start pose.
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# - /map is optional static geometry from nav2_map_server; no lidar/AMCL is used.
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map_frame: map
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odom_topic: /odom
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goal_pose_topic: /goal_pose
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obstacles_topic: /random_obstacles
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clear_obstacles_topic: /clear_random_obstacles
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cancel_topic: /navigation_cancel
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costmap_topic: /map
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plan_topic: /plan
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status_topic: /hybrid_astar_status
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# real_10x10.yaml fallback bounds. When /map arrives, exact map bounds are
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# applied because fit_map_to_costmap is true.
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map_min_x: -5.0
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map_min_y: -5.0
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map_max_x: 5.0
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map_max_y: 5.0
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# A 10 cm planning grid keeps odom-only real-vehicle planning responsive
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# over the full 10 x 10 m test area. The map remains used for collision
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# checks at its native resolution.
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resolution: 0.10
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fit_map_to_costmap: true
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obstacle_format: xyr
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default_obstacle_radius: 0.15
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unknown_obstacle_radius: 0.15
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accumulate_obstacles: false
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obstacle_merge_distance: 0.20
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robot_radius: 0.14
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localization_error: 0.05
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latency_margin: 0.03
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safety_margin: 0.06
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costmap_occupied_threshold: 50
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unknown_is_obstacle: true
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outside_costmap_is_obstacle: true
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inflate_static_map: true
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min_turning_radius: 0.25
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yaw_bins: 36
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primitive_length: 0.12
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collision_sample_step: 0.03
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goal_xy_tolerance: 0.10
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goal_yaw_tolerance: 0.174533
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require_goal_yaw: false
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snap_final_xy_to_goal: true
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use_grid_heuristic: true
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heuristic_weight: 1.35
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goal_yaw_heuristic_weight: 0.0
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reverse_penalty: 1.5
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turn_penalty: 0.05
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gear_change_penalty: 0.25
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steering_change_penalty: 0.02
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max_iterations: 200000
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planning_timeout_ms: 1500.0
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replan_rate: 2.0
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plan_on_obstacle_update: true
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max_odom_age: 0.80
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tf_timeout: 0.10
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state_log_period: 1.0
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search_progress_log_period_ms: 500.0
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