From 9a4bb95c4cc8a015c34a5aff7fa4d93fe896f19d Mon Sep 17 00:00:00 2001
From: QUYVN <quyvn@phenikaa-x.com>
Date: Fri, 20 Mar 2026 07:09:05 +0000
Subject: [PATCH] update param yaml

---
 config/dock_global_params.yaml | 12 ++++++++++++
 1 file changed, 12 insertions(+)
 create mode 100644 config/dock_global_params.yaml

diff --git a/config/dock_global_params.yaml b/config/dock_global_params.yaml
new file mode 100644
index 0000000..bb9f187
--- /dev/null
+++ 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
\ No newline at end of file