HiepLM/pnkx_nav_core
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update

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HiepLM
2026-04-23 20:10:57 +07:00
parent 5812542eaf
commit d681201698
3 changed files with 9 additions and 10 deletions
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6
config/move_base_common_params.yaml
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@@ -7,7 +7,7 @@ base_global_planner: CustomPlanner
PNKXLocalPlanner:
base_local_planner: LocalPlannerAdapter
base_global_planner: CustomPlanner
base_global_planner: TwoPointsPlanner
PNKXDockingLocalPlanner:
base_local_planner: LocalPlannerAdapter
@@ -26,11 +26,11 @@ 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: 0 # ... or after 10 attempts (whichever happens first)
max_planning_retries: -1 # ... 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
recovery_behavior_enabled: true
recovery_behavior_enabled: false
recovery_behaviors: [
{name: aggressive_reset, type: ClearCostmapRecovery},
{name: conservative_reset, type: ClearCostmapRecovery},

2
config/pnkx_local_planner_params.yaml
View File

@@ -1,5 +1,5 @@
yaw_goal_tolerance: 0.03
xy_goal_tolerance: 0.02
xy_goal_tolerance: 0.05
min_approach_linear_velocity: 0.05
LocalPlannerAdapter: