HiepLM/pnkx_nav_core
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update 28/2

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HiepLM
2026-01-28 09:08:55 +07:00
parent 575e190988
commit 620db96de0
10 changed files with 1928 additions and 52 deletions
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10
config/pnkx_local_planner_params.yaml
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@@ -1,4 +1,3 @@
LocalPlannerAdapter:
library_path: liblocal_planner_adapter
yaw_goal_tolerance: 0.017
@@ -77,7 +76,7 @@ MKTAlgorithmDiffPredictiveTrajectory:
library_path: libmkt_algorithm_diff
avoid_obstacles: false
xy_local_goal_tolerance: 0.01
angle_threshold: 0.6
angle_threshold: 0.4
index_samples: 60
follow_step_path: true
@@ -88,9 +87,10 @@ MKTAlgorithmDiffPredictiveTrajectory:
# only when true:
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: 1.6 # 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)
# Rotate to heading param - onle one of use_rotate_to_heading and allow_reversing can be set to true
use_rotate_to_heading: true # Whether to enable rotating to rough heading and goal orientation when using holonomic planners. Recommended on for all robot types that can rotate in place. (default: true)
@@ -141,9 +141,9 @@ MKTAlgorithmDiffGoStraight:
# 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: 1.0 # The minimum lookahead distance (m) threshold. (default: 0.3)
min_lookahead_dist: 0.325 # The minimum lookahead distance (m) threshold. (default: 0.3)
max_lookahead_dist: 1.5 # The maximum lookahead distance (m) threshold. (default: 0.9)
lookahead_time: 2.5 # 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: 0.6 # Minimum squared journey to consider for goal (default: 0.2)