61 lines
2.6 KiB
YAML
61 lines
2.6 KiB
YAML
position_planner_name: PriestLocalPlanner #HybridLocalPlanner MPPILocalPlanner PriestLocalPlanner PNKXLocalPlanner
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docking_planner_name: PNKXDockingLocalPlanner #StanleyDockingLocalPlanner PNKXDockingLocalPlanner
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go_straight_planner_name: PNKXGoStraightLocalPlanner
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rotate_planner_name: PNKXRotateLocalPlanner
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base_local_planner: LocalPlannerAdapter
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base_global_planner: SBPLLatticePlanner
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PriestLocalPlanner:
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base_local_planner: LocalPlannerAdapter
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base_global_planner: SBPLLatticePlanner #CustomPlanner SBPLLatticePlanner
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PNKXDockingLocalPlanner:
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base_local_planner: LocalPlannerAdapter
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base_global_planner: TwoPointsPlanner
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PNKXGoStraightLocalPlanner:
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base_local_planner: LocalPlannerAdapter
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base_global_planner: TwoPointsPlanner
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PNKXRotateLocalPlanner:
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base_local_planner: LocalPlannerAdapter
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base_global_planner: TwoPointsPlanner
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### replanning
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controller_frequency: 30.0 # run controller at 30.0 Hz
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controller_patience: 0.0 # if the controller failed, clear obstacles and retry; after 15.0 s, abort and replan
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planner_frequency: 0.0 # don't continually replan (only when controller failed)
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planner_patience: 2.0 # if the first planning attempt failed, abort planning retries after 5.0 s...
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max_planning_retries: 0 # ... or after 10 attempts (whichever happens first)
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oscillation_timeout: -1 # abort controller and trigger recovery behaviors after 30.0 s
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oscillation_distance: 0.5
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## recovery behaviors
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#
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# Recovery của move_base cũ đã dừng: bộ behavior gen-2 (tick-based) khai ở
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# `recovery_behaviors_params.yaml` và do `recovery_core::RecoveryRegistry` nạp, không phải khoá
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# `recovery_behaviors` ở đây.
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#
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# Danh sách gen-1 đã được gỡ hẳn thay vì để lại: các entry cũ trỏ tên alias `RotateRecovery` /
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# `ClearCostmapRecovery` vào file .so gen-2, trong khi loader ở đây import theo chữ ký gen-1
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# (`robot_nav_core::RecoveryBehavior`). Boost.DLL không kiểm kiểu qua ranh giới .so, nên hai bên
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# không bao giờ gặp nhau ở compile time và lỗi chỉ hiện ra lúc chạy. Giữ lại khoá cũng làm hai file
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# config tranh nhau cùng một tên alias.
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recovery_behavior_enabled: false
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recovery_behaviors: [
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{name: aggressive_reset, type: ClearCostmapRecovery},
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{name: conservative_reset, type: ClearCostmapRecovery},
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]
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conservative_reset:
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reset_distance: 3.0 # clear obstacles farther away than 3.0 m
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invert_area_to_clear: true
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aggressive_reset:
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reset_distance: 3.0
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ClearCostmapRecovery:
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library_path: librobot_clear_costmap_recovery
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MoveBase:
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library_path: libmove_base2
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