forked from zbw/yiliao2026
32 lines
777 B
YAML
32 lines
777 B
YAML
topology_pure_pursuit:
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ros__parameters:
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use_sim_time: false
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# Tracker-only mode: consume /plan generated by a planner node.
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enable_topology_planning: false
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accept_external_plan: true
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publish_cmd_vel: true
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stop_without_plan: true
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map_frame: map
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odom_topic: /odom
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external_plan_topic: /plan
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cmd_vel_topic: /cmd_vel
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status_topic: /pure_pursuit_status
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control_rate: 20.0
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lookahead_distance: 0.55
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goal_tolerance: 0.20
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linear_speed: 0.30
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min_linear_speed: 0.08
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reverse_speed: 0.12
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slowdown_distance: 0.80
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curvature_slowdown_gain: 0.18
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max_angular_speed: 1.5
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min_turning_radius: 0.40
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latency_compensation: true
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max_latency_compensation: 0.25
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max_odom_age: 0.80
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tf_timeout: 0.05
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