HiepLM/pnkx_nav_core
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add docking to

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This commit is contained in:
QUYVN
2026-03-19 04:02:08 +00:00
parent 98ce71eb69
commit 180a646e35
6 changed files with 144 additions and 13 deletions
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7
config/costmap_common_params.yaml
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@@ -1,10 +1,3 @@
position_planner_name: PNKXLocalPlanner
docking_planner_name: PNKXDockingLocalPlanner
go_straight_planner_name: PNKXGoStraightLocalPlanner
rotate_planner_name: PNKXRotateLocalPlanner
base_local_planner: LocalPlannerAdapter
base_global_planner: CustomPlanner
robot_base_frame: base_link
transform_tolerance: 1.0
obstacle_range: 3.0

22
config/move_base_common_params.yaml
View File

@@ -1,3 +1,25 @@
position_planner_name: PNKXLocalPlanner
docking_planner_name: PNKXDockingLocalPlanner
go_straight_planner_name: PNKXGoStraightLocalPlanner
rotate_planner_name: PNKXRotateLocalPlanner
base_local_planner: LocalPlannerAdapter
base_global_planner: CustomPlanner
PNKXLocalPlanner:
base_local_planner: LocalPlannerAdapter
base_global_planner: CustomPlanner
MKTDockingPlanner:
base_local_planner: LocalPlannerAdapter
base_global_planner: TwoPointsPlanner
MKTGoStraightPlanner:
base_local_planner: LocalPlannerAdapter
base_global_planner: TwoPointsPlanner
MKTRotatePlanner:
base_local_planner: LocalPlannerAdapter
base_global_planner: TwoPointsPlanner
### replanning
controller_frequency: 30.0 # run controller at 15.0 Hz