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HiepLM
2025-12-05 11:12:17 +07:00
parent f60cbc2ed3
commit 45d965671e
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config/sbpl_global_params.yaml Executable file
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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