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update 5/2

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HiepLM
2026-02-05 14:13:40 +07:00
parent cab5655769
commit a43b714f01
13 changed files with 409 additions and 156 deletions
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2
config/move_base_common_params.yaml
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@@ -4,7 +4,7 @@ controller_frequency: 30.0 # run controller at 15.0 Hz
controller_patience: 0.0 # if the controller failed, clear obstacles and retry; after 15.0 s, abort and replan
planner_frequency: 0.0 # don't continually replan (only when controller failed)
planner_patience: 2.0 # if the first planning attempt failed, abort planning retries after 5.0 s...
max_planning_retries: 5 # ... or after 10 attempts (whichever happens first)
max_planning_retries: 0 # ... or after 10 attempts (whichever happens first)
oscillation_timeout: -1 # abort controller and trigger recovery behaviors after 30.0 s
oscillation_distance: 0.5
### recovery behaviors

103
config/pnkx_local_planner_params.yaml
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@@ -111,76 +111,75 @@ MKTAlgorithmDiffPredictiveTrajectory:
MKTAlgorithmDiffGoStraight:
library_path: libmkt_algorithm_diff
avoid_obstacles: false
xy_local_goal_tolerance: 0.01
angle_threshold: 0.6
index_samples: 60
follow_step_path: true
# Lookahead
use_velocity_scaled_lookahead_dist: true # Whether to use the velocity scaled lookahead distances or constant lookahead_distance. (default: false)
# 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: 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: 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)
# 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)
# only when true:
rotate_to_heading_min_angle: 0.35 # The difference in the path orientation and the starting robot orientation (radians) to trigger a rotate in place. (default: 0.785)
# stoped
rot_stopped_velocity: 0.03
trans_stopped_velocity: 0.06
use_regulated_linear_velocity_scaling: false
use_cost_regulated_linear_velocity_scaling: false
MKTAlgorithmDiffRotateToGoal:
library_path: libmkt_algorithm_diff
avoid_obstacles: false
xy_local_goal_tolerance: 0.01
angle_threshold: 0.6
xy_local_goal_tolerance: 0.02
angle_threshold: 0.8
index_samples: 60
follow_step_path: true
# Lookahead
use_velocity_scaled_lookahead_dist: true # Whether to use the velocity scaled lookahead distances or constant lookahead_distance. (default: false)
# only when false:
lookahead_dist: 0.325 # The lookahead distance (m) to use to find the lookahead point. (default: 0.6)
lookahead_dist: 0.5 # The lookahead distance (m) to use to find the lookahead point. (default: 0.6)
# only when true:
min_lookahead_dist: 0.8 # 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: 1.8 # 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 # Maximum squared journey to consider for goal (default: 0.2)
min_lookahead_dist: 1.0 # 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: 1.9 # The time (s) to project the velocity by, a.k.a. lookahead gain. (default: 1.5)
min_journey_squared: 0.2 # 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: 0.9 # 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)
# only when true:
rotate_to_heading_min_angle: 0.03 # The difference in the path orientation and the starting robot orientation (radians) to trigger a rotate in place. (default: 0.785)
angular_decel_zone: 0.1
angular_decel_zone: 0.1
# stoped
rot_stopped_velocity: 0.03
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)
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
MKTAlgorithmDiffRotateToGoal:
library_path: libmkt_algorithm_diff
avoid_obstacles: false
xy_local_goal_tolerance: 0.02
angle_threshold: 0.47
index_samples: 60
follow_step_path: true
# Lookahead
use_velocity_scaled_lookahead_dist: true # Whether to use the velocity scaled lookahead distances or constant lookahead_distance. (default: false)
# only when false:
lookahead_dist: 0.5 # The lookahead distance (m) to use to find the lookahead point. (default: 0.6)
# 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: 0.05 # 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)
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: 1.9 # The time (s) to project the velocity by, a.k.a. lookahead gain. (default: 1.5)
min_journey_squared: 0.2 # 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: 0.9 # 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)
# only when true:
rotate_to_heading_min_angle: 0.03 # The difference in the path orientation and the starting robot orientation (radians) to trigger a rotate in place. (default: 0.785)
angular_decel_zone: 0.1
# stoped
rot_stopped_velocity: 0.05
trans_stopped_velocity: 0.06
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
GoalChecker:
library_path: libmkt_plugins_goal_checker