17 lines
429 B
YAML
17 lines
429 B
YAML
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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directory_to_save_paths: "/init/paths"
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pathway_filename: "pathway.txt"
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current_pose_topic_name: "/amcl_pose"
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