HiepLM/pnkx_nav_core
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update lan 1

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HiepLM
2026-04-24 11:23:35 +07:00
parent d681201698
commit 498a85a199
4 changed files with 14 additions and 12 deletions
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4
config/move_base_common_params.yaml
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@@ -7,7 +7,7 @@ base_global_planner: CustomPlanner
PNKXLocalPlanner:
base_local_planner: LocalPlannerAdapter
base_global_planner: TwoPointsPlanner
base_global_planner: CustomPlanner
PNKXDockingLocalPlanner:
base_local_planner: LocalPlannerAdapter
@@ -26,7 +26,7 @@ controller_frequency: 30.0 # run controller at 15.0 Hz
controller_patience: 0.0 # if the controller failed, clear obstacles and retry; after 15.0 s, abort and replan
planner_frequency: 0.0 # don't continually replan (only when controller failed)
planner_patience: 2.0 # if the first planning attempt failed, abort planning retries after 5.0 s...
max_planning_retries: -1 # ... or after 10 attempts (whichever happens first)
max_planning_retries: 0 # ... or after 10 attempts (whichever happens first)
oscillation_timeout: -1 # abort controller and trigger recovery behaviors after 30.0 s
oscillation_distance: 0.5
### recovery behaviors

2
config/pnkx_local_planner_params.yaml
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@@ -95,7 +95,7 @@ MKTAlgorithmDiffPredictiveTrajectory:
min_lookahead_dist: 0.6 # 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: 1.9 # The time (s) to project the velocity by, a.k.a. lookahead gain. (default: 1.5)
min_journey_squared: 0.2 # Minimum squared journey to consider for goal (default: 0.2)
min_journey_squared: 0.35 # Minimum squared journey to consider for goal (default: 0.2)
max_journey_squared: 0.5 # Maximum squared journey to consider for goal (default: 0.2)
max_lateral_accel: 0.9 # Max lateral accel for speed reduction on curves (m/s^2)