HiepLM/pnkx_nav_core
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done thuat toan

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HiepLM
2026-01-28 17:43:50 +07:00
parent 85789855a8
commit 1fa6af01fd
13 changed files with 435 additions and 2303 deletions
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18
config/pnkx_local_planner_params.yaml
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@@ -1,9 +1,9 @@
yaw_goal_tolerance: 0.017
xy_goal_tolerance: 0.03
min_approach_linear_velocity: 0.06
LocalPlannerAdapter:
library_path: liblocal_planner_adapter
yaw_goal_tolerance: 0.017
xy_goal_tolerance: 0.03
min_approach_linear_velocity: 0.06 # The minimum velocity (m/s) threshold to apply when approaching the goal to ensure progress. Must be > 0.01. (default: 0.05)
PNKXLocalPlanner:
# Algorithm
library_path: libpnkx_local_planner
@@ -76,7 +76,7 @@ MKTAlgorithmDiffPredictiveTrajectory:
library_path: libmkt_algorithm_diff
avoid_obstacles: false
xy_local_goal_tolerance: 0.01
angle_threshold: 0.4
angle_threshold: 0.6
index_samples: 60
follow_step_path: true
@@ -85,9 +85,9 @@ MKTAlgorithmDiffPredictiveTrajectory:
# only when false:
lookahead_dist: 0.5 # The lookahead distance (m) to use to find the lookahead point. (default: 0.6)
# only when true:
min_lookahead_dist: 0.4 # The minimum lookahead distance (m) threshold. (default: 0.3)
min_lookahead_dist: 0.5 # The minimum lookahead distance (m) threshold. (default: 0.3)
max_lookahead_dist: 2.0 # The maximum lookahead distance (m) threshold. (default: 0.9)
lookahead_time: 2.0 # The time (s) to project the velocity by, a.k.a. lookahead gain. (default: 1.5)
lookahead_time: 1.9 # The time (s) to project the velocity by, a.k.a. lookahead gain. (default: 1.5)
min_journey_squared: 0.3 # Minimum squared journey to consider for goal (default: 0.2)
max_journey_squared: 0.8 # Maximum squared journey to consider for goal (default: 0.2)
max_lateral_accel: 2.0 # Max lateral accel for speed reduction on curves (m/s^2)
@@ -99,8 +99,8 @@ MKTAlgorithmDiffPredictiveTrajectory:
angular_decel_zone: 0.1
# stoped
rot_stopped_velocity: 0.1
trans_stopped_velocity: 0.1
rot_stopped_velocity: 0.05
trans_stopped_velocity: 0.03
# Regulated linear velocity scaling
use_regulated_linear_velocity_scaling: false # Whether to use the regulated features for path curvature (e.g. slow on high curvature paths). (default: true)