34 lines
1.7 KiB
Python
Executable File
34 lines
1.7 KiB
Python
Executable File
#!/usr/bin/env python
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PACKAGE = "global_planner"
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from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, int_t, double_t, bool_t
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gen = ParameterGenerator()
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gen.add("lethal_cost", int_t, 0, "Lethal Cost", 253, 1, 255)
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gen.add("neutral_cost", int_t, 0, "Neutral Cost", 50, 1, 255)
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gen.add("cost_factor", double_t, 0, "Factor to multiply each cost from costmap by", 3.0, 0.01, 5.0)
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gen.add("publish_potential", bool_t, 0, "Publish Potential Costmap", True)
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orientation_enum = gen.enum([
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gen.const("None", int_t, 0, "No orientations added except goal orientation"),
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gen.const("Forward", int_t, 1,
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"Positive x axis points along path, except for the goal orientation"),
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gen.const("Interpolate", int_t, 2, "Orientations are a linear blend of start and goal pose"),
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gen.const("ForwardThenInterpolate",
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int_t, 3, "Forward orientation until last straightaway, then a linear blend until the goal pose"),
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gen.const("Backward", int_t, 4,
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"Negative x axis points along the path, except for the goal orientation"),
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gen.const("Leftward", int_t, 5,
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"Positive y axis points along the path, except for the goal orientation"),
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gen.const("Rightward", int_t, 6,
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"Negative y axis points along the path, except for the goal orientation"),
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], "How to set the orientation of each point")
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gen.add("orientation_mode", int_t, 0, "How to set the orientation of each point", 1, 0, 6,
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edit_method=orientation_enum)
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gen.add("orientation_window_size", int_t, 0, "What window to use to determine the orientation based on the "
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"position derivative specified by the orientation mode", 1, 1, 255)
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exit(gen.generate(PACKAGE, "global_planner", "GlobalPlanner"))
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