update

config/costmap_common_params.yaml

@@ -1,3 +1,10 @@
+position_planner_name: PNKXLocalPlanner
+docking_planner_name: PNKXDockingLocalPlanner
+go_straight_planner_name: PNKXGoStraightLocalPlanner
+rotate_planner_name: PNKXRotateLocalPlanner
+base_local_planner: LocalPlannerAdapter
+base_global_planner: CustomPlanner
+
 robot_base_frame: base_footprint
 transform_tolerance: 1.0
 obstacle_range: 3.0

config/custom_global_params.yaml

@@ -1,4 +1,3 @@
-base_global_planner: CustomPlanner
 CustomPlanner:
   library_path: libcustom_planner
   environment_type: XYThetaLattice

config/pnkx_local_planner_params.yaml

@@ -1,10 +1,4 @@
 
-position_planner_name: PNKXLocalPlanner
-docking_planner_name: PNKXDockingLocalPlanner
-go_straight_planner_name: PNKXGoStraightLocalPlanner
-rotate_planner_name: PNKXRotateLocalPlanner
-
-base_local_planner: LocalPlannerAdapter
 LocalPlannerAdapter:
   library_path: liblocal_planner_adapter
   yaw_goal_tolerance: 0.017  
@@ -92,7 +86,7 @@ MKTAlgorithmDiffPredictiveTrajectory:
   # 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: 1.6                         # 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) 
@@ -120,6 +114,20 @@ MKTAlgorithmDiffPredictiveTrajectory:
   cost_scaling_dist: 0.2                             # (default: 0.6)
   cost_scaling_gain: 2.0                             # (default: 1.0)
 
+
+  use_mpc: true
+  mpc_horizon: 10
+  mpc_dt: 0.1
+  mpc_w_pos: 6.0
+  mpc_w_theta: 2.0
+  mpc_w_v: 0.2
+  mpc_w_w: 0.2
+  mpc_w_dv: 0.4
+  mpc_w_dw: 0.4
+  mpc_iterations: 3
+  mpc_step: 0.15
+  mpc_eps: 0.001
+
 MKTAlgorithmDiffGoStraight:
   library_path: libmkt_algorithm_diff
   avoid_obstacles: false
@@ -133,7 +141,7 @@ 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: 0.8                    # The minimum lookahead distance (m) threshold. (default: 0.3)
+  min_lookahead_dist: 1.0                    # 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: 2.5                         # 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) 

config/two_points_global_params.yaml

@@ -1,4 +1,3 @@
-base_global_planner: TwoPointsPlanner
 TwoPointsPlanner:
   library_path: libtwo_points_planner
   lethal_obstacle: 20