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update param yaml

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QUYVN
2026-03-20 07:09:05 +00:00
parent 76ee97f2ec
commit 9a4bb95c4c
1 changed files with 12 additions and 0 deletions
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config/dock_global_params.yaml Normal file
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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