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update ros

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HiepLM
2026-01-07 09:28:55 +07:00
parent 7cea6bb120
commit ec6d5746e3
58 changed files with 22752 additions and 3773 deletions
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10
Controllers/Packages/amr_startup/config/sbpl_global_params.yaml Executable file
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@@ -0,0 +1,10 @@
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