HiepLM/pnkx_nav_core
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update

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HiepLM
2026-02-06 15:54:35 +07:00
parent 6e320bbe5c
commit c0ceccf32c
11 changed files with 107 additions and 55 deletions
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11
config/pnkx_local_planner_params.yaml
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@@ -74,7 +74,6 @@ LimitedAccelGenerator:
MKTAlgorithmDiffPredictiveTrajectory:
library_path: libmkt_algorithm_diff
avoid_obstacles: false
xy_local_goal_tolerance: 0.02
angle_threshold: 0.47
index_samples: 60
@@ -110,7 +109,6 @@ MKTAlgorithmDiffPredictiveTrajectory:
MKTAlgorithmDiffGoStraight:
library_path: libmkt_algorithm_diff
avoid_obstacles: false
xy_local_goal_tolerance: 0.02
angle_threshold: 0.8
index_samples: 60
@@ -121,11 +119,11 @@ MKTAlgorithmDiffGoStraight:
# 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: 1.0 # The minimum lookahead distance (m) threshold. (default: 0.3)
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)
lookahead_time: 2.0 # The time (s) to project the velocity by, a.k.a. lookahead gain. (default: 1.5)
min_journey_squared: 1.0 # Minimum squared journey to consider for goal (default: 0.2)
max_journey_squared: 1.0 # 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
@@ -146,7 +144,6 @@ MKTAlgorithmDiffGoStraight:
MKTAlgorithmDiffRotateToGoal:
library_path: libmkt_algorithm_diff
avoid_obstacles: false
xy_local_goal_tolerance: 0.02
angle_threshold: 0.47
index_samples: 60