HiepLM/AMR_T800
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git commit -m "first commit for v2"

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HiepLM
2025-12-29 16:21:22 +07:00
commit aa3d832d5c
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Controllers/Packages/amr_startup/config/sbpl_global_params.yaml Executable file
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base_global_planner: SBPLLatticePlanner
SBPLLatticePlanner:
environment_type: XYThetaLattice
planner_type: ARAPlanner
allocated_time: 10.0
initial_epsilon: 1.0
force_scratch_limit: 10000
forward_search: true
nominalvel_mpersecs: 0.2
timetoturn45degsinplace_secs: 0.6 # = 0.6 rad/s