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Add recovery and mission manager structure

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This commit is contained in:
duongtd
2026-07-03 17:37:39 +07:00
parent 33d6537947
commit 565e18bfb8
21 changed files with 349 additions and 50 deletions
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config/sbpl_global_params.yaml Normal file
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SBPLLatticePlanner:
library_path: libsbpl_lattice_planner
environment_type: XYThetaLattice
planner_type: ARAPlanner
allocated_time: 10.0
initial_epsilon: 1.0
force_scratch_limit: 10000
forward_search: true
nominalvel_mpersecs: 0.3
timetoturn45degsinplace_secs: 1.31 # = 0.6 rad/s
primitive_filename: /home/duongtd/T800_ws/src/AMR_T800/Test/sbpl_lattice_planner/matlab/mprim/unicycle_highcost_5cm.mprim