HiepLM/pnkx_nav_core
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update 4/2

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HiepLM
2026-02-04 09:31:56 +07:00
parent 15f842d703
commit 7b3c5b8d5f
9 changed files with 233 additions and 142 deletions
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18
config/pnkx_local_planner_params.yaml
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@@ -51,7 +51,7 @@ LimitedAccelGenerator:
min_speed_xy: 0.25 # min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity
max_vel_theta: 0.7 # max_rot_vel: 1.0 # choose slightly less than the base's capability
min_vel_theta: 0.07 # min_rot_vel: 0.1 default: 0.4 # this is the min angular velocity when there is negligible translational velocity
min_vel_theta: 0.05 # min_rot_vel: 0.1 default: 0.4 # this is the min angular velocity when there is negligible translational velocity
acc_lim_x: 1.0
acc_lim_y: 0.0 # diff drive robot
@@ -102,17 +102,11 @@ MKTAlgorithmDiffPredictiveTrajectory:
rot_stopped_velocity: 0.05
trans_stopped_velocity: 0.06
# Regulated linear velocity scaling
use_regulated_linear_velocity_scaling: false # Whether to use the regulated features for path curvature (e.g. slow on high curvature paths). (default: true)
# only when true:
regulated_linear_scaling_min_radius: 0.6 # The turning radius (m) for which the regulation features are triggered. Remember, sharper turns have smaller radii. (default: 0.9)
regulated_linear_scaling_min_speed: 0.15 # The minimum speed (m/s) for which any of the regulated heuristics can send, to ensure process is still achievable even in high cost spaces with high curvature. Must be > 0.1. (default: 0.25)
# Inflation cost scaling (Limit velocity by proximity to obstacles)
use_cost_regulated_linear_velocity_scaling: false # Whether to use the regulated features for proximity to obstacles (e.g. slow in close proximity to obstacles). (default: true)
inflation_cost_scaling_factor: 2.0 # (default: 3.0) # must be > 0
cost_scaling_dist: 0.2 # (default: 0.6)
cost_scaling_gain: 2.0 # (default: 1.0)
use_final_heading_alignment: true
final_heading_xy_tolerance: 0.1
final_heading_angle_tolerance: 0.05
final_heading_min_velocity: 0.05
final_heading_kp_angular: 2.0
MKTAlgorithmDiffGoStraight:
library_path: libmkt_algorithm_diff