HiepLM/pnkx_nav_core
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update

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HiepLM
2026-04-25 16:26:12 +07:00
parent 0d10ec2208
commit 1a19e38b2d
3 changed files with 15 additions and 13 deletions
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10
config/pnkx_local_planner_params.yaml
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@@ -56,9 +56,9 @@ LimitedAccelGenerator:
acc_lim_x: 3.0
acc_lim_y: 0.0 # diff drive robot
acc_lim_theta: 1.5
decel_lim_x: -1.5
decel_lim_x: -3.0
decel_lim_y: -0.0
decel_lim_theta: -3.0
decel_lim_theta: -2.0
# Whether to split the path into segments or not
split_path: true
@@ -74,7 +74,7 @@ LimitedAccelGenerator:
MKTAlgorithmDiffPredictiveTrajectory:
library_path: libmkt_algorithm_diff
xy_local_goal_tolerance: 0.02
xy_local_goal_tolerance: 0.05
angle_threshold: 0.6
index_samples: 60
follow_step_path: true
@@ -119,7 +119,7 @@ MKTAlgorithmDiffPredictiveTrajectory:
MKTAlgorithmDiffGoStraight:
library_path: libmkt_algorithm_diff
xy_local_goal_tolerance: 0.02
xy_local_goal_tolerance: 0.05
angle_threshold: 0.8
index_samples: 60
follow_step_path: true
@@ -156,7 +156,7 @@ MKTAlgorithmDiffGoStraight:
MKTAlgorithmDiffRotateToGoal:
library_path: libmkt_algorithm_diff
xy_local_goal_tolerance: 0.02
xy_local_goal_tolerance: 0.05
angle_threshold: 0.47
index_samples: 60
follow_step_path: true