51 lines
1.2 KiB
YAML
Executable File
51 lines
1.2 KiB
YAML
Executable File
# sfm algorithm configure
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social_force:
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animation_factor: 5.1
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# only handle pedestrians within `people_distance`
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people_distance: 6.0
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# weights of social force model
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goal_weight: 2.0
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obstacle_weight: 20.0
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social_weight: 15
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group_gaze_weight: 3.0
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group_coh_weight: 2.0
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group_rep_weight: 1.0
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# pedestrians setting
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pedestrians:
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update_rate: 5
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ped_property:
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- name: human_1
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pose: 11 25 1 0 0 0
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velocity: 0.9
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radius: 0.4
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cycle: true
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ignore:
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model_1: ground_plane
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model_2: turtlebot3_waffle_1
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trajectory:
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goal_point_1: 11 25 1 0 0 0
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goal_point_2: 11 30 1 0 0 0
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# - name: human_2
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# pose: -0.5 -8.5 1 0 0 0
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# velocity: 1.2
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# radius: 0.4
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# cycle: true
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# ignore:
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# model_1: ground_plane
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# model_2: turtlebot3_waffle
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# trajectory:
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# goal_point_1: -0.5 -8.5 1 0 0 0
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# goal_point_2: -9 2.5 1 0 0 0
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# - name: human_3
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# pose: -3.5 -8.5 1 0 0 0
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# velocity: 1.2
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# radius: 0.4
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# cycle: true
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# ignore:
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# model_1: ground_plane
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# model_2: turtlebot3_waffle
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# trajectory:
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# goal_point_1: -3.5 -8.5 1 0 0 0
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# goal_point_2: -3.5 8.5 1 0 0 0
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