update

2025-12-30 15:46:20 +07:00
parent 7b27905ad4
commit dc652575d1
69 changed files with 3834 additions and 22719 deletions
--- a/Controllers/Packages/amr_startup/config/custom_global_params.yaml
+++ b/Controllers/Packages/amr_startup/config/custom_global_params.yaml
@@ -1,17 +0,0 @@
-base_global_planner: CustomPlanner
-CustomPlanner:
-  environment_type: XYThetaLattice
-  planner_type: ARAPlanner
-  allocated_time: 10.0
-  initial_epsilon: 1.0
-  force_scratch_limit: 10000
-  forward_search: false
-  nominalvel_mpersecs: 0.8
-  timetoturn45degsinplace_secs: 1.31 # = 0.6 rad/s
-  allow_unknown: true
-  directory_to_save_paths: "/init/paths"
-  pathway_filename: "pathway.txt"
-  current_pose_topic_name: "/amcl_pose"
-  map_frame_id: "map"
-  base_frame_id: "base_link"
-