16 lines
350 B
YAML
16 lines
350 B
YAML
base_global_planner: CustomPlanner
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CustomPlanner:
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library_path: libcustom_planner
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environment_type: XYThetaLattice
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planner_type: ARAPlanner
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allocated_time: 10.0
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initial_epsilon: 1.0
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force_scratch_limit: 10000
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forward_search: false
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nominalvel_mpersecs: 0.8
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timetoturn45degsinplace_secs: 1.31 # = 0.6 rad/s
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allow_unknown: true
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