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update

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HiepLM
2025-12-10 09:10:17 +07:00
parent b41d614d1b
commit 33afdfcc5c
24 changed files with 1847 additions and 347 deletions
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10
config/sbpl_global_params.yaml
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@@ -1,10 +0,0 @@
base_global_planner: SBPLLatticePlanner
SBPLLatticePlanner:
environment_type: XYThetaLattice
planner_type: ARAPlanner
allocated_time: 10.0
initial_epsilon: 1.0
force_scratch_limit: 10000
forward_search: true
nominalvel_mpersecs: 0.2
timetoturn45degsinplace_secs: 0.6 # = 0.6 rad/s