ChingHengWang
commented
8 years ago max_vel_theta: 0.6 min_vel_theta: -0.6 escape_vel: 0.2 sim_time: 3.0 /move_base/global_costmap: [[0.15,0.43],[0.15,-0.43],[-0.4,-0.43],[-0.4,0.43]] /move_base/global_costmap/inflation_layer : cost_scaling_factor : 10.0 /move_base/global_costmap/inflation_layer : inflation_radius : 1.0
/move_base/local_costmap: [[0.15,0.27],[0.15,-0.27],[-0.4,-0.27],[-0.4,0.27]] /move_base/local_costmap/inflation_layer : cost_scaling_factor : 10.0 /move_base/local_costmap/inflation_layer : inflation_radius : 0.6
before modify : metal 1
conntroller_frequency: 3.0 recovery_behavior_enabled: true clearing_rotation_allowed: true
TrajectoryPlannerROS: max_vel_x: 0.2 min_vel_x: 0.05
max_vel_y: 0.0 # zero for a differential drive robot
min_vel_y: 0.0
max_vel_theta: 0.3 min_vel_theta: -0.3 max_rotational_vel: 0.3 min_in_place_vel_theta: 0.15 min_in_place_rotational_vel: 0.15 escape_vel: 0.0 acc_lim_x: 2.5 acc_lim_y: 0.1 # zero for a differential drive robot acc_lim_theta: 3.2
acc_lim_theta: 1.0
holonomic_robot: false yaw_goal_tolerance: 0.5 # about 6 degrees xy_goal_tolerance: 0.2 # 1 cm pdist_scale: 0.8 gdist_scale: 0.4 occdist_scale: 0.01 meter_scoring: true
heading_lookahead: 0.325
sim_time: 2.0 sim_granularity: 0.1 angular_sim_granularity: 0.1