update param yaml

2026-03-20 07:09:05 +00:00
parent 76ee97f2ec
commit 9a4bb95c4c
1 changed files with 12 additions and 0 deletions
--- a/config/dock_global_params.yaml
+++ b/config/dock_global_params.yaml
@@ -0,0 +1,12 @@
+DockPlanner:
+  library_path: libdock_planner
+  # File: config/planner_params.yaml
+  MyGlobalPlanner:
+    cost_threshold: 200        # Ngưỡng chi phí vật cản (0-255)
+    safety_distance: 2         # Khoảng cách an toàn (cells)
+    use_dijkstra: false        # Sử dụng Dijkstra thay vì A*
+    
+  # File: config/costmap_params.yaml
+  global_costmap:
+    inflation_radius: 0.3      # Bán kính phình vật cản
+    cost_scaling_factor: 10.0  # Hệ số tỷ lệ chi phí