From 8cbbae4888b31d1f9113d80feeed167dfac76c21 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Mon, 12 Sep 2022 14:09:33 -0700 Subject: [PATCH] Init commit of base global planner params yaml file. --- .../config/base_global_planner_params.yaml | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 stretch_navigation/config/base_global_planner_params.yaml diff --git a/stretch_navigation/config/base_global_planner_params.yaml b/stretch_navigation/config/base_global_planner_params.yaml new file mode 100644 index 0000000..d9ab321 --- /dev/null +++ b/stretch_navigation/config/base_global_planner_params.yaml @@ -0,0 +1,21 @@ +GlobalPlanner: + + allow_unknown: true # Allow planner to plan through unknown space, default true + default_tolerance: 0.0 # If goal in obstacle, plan to the closest point in radius default_tolerance, default 0.0 + visualize_potential: False # Specifies whether or not to visualize the potential area computed via a PointCloud2 + + old_navfn_behavior: false # Exactly mirror behavior of navfn, use defaults for other boolean parameters, default false + use_quadratic: true # Use the quadratic approximation of the potential. Otherwise, use a simpler calculation, default true + use_dijkstra: true # Use dijkstra's algorithm. Otherwise, A*, default true + use_grid_path: false # Create a path that follows the grid boundaries. Otherwise, use a gradient descent method, default false + + planner_window_x: 0.0 # default 0.0 + planner_window_y: 0.0 # default 0.0 + + publish_scale: 100 # Scale by which the published potential gets multiplied, default 100 + planner_costmap_publish_frequency: 0.0 # default 0.0 + + lethal_cost: 253 # default 253 + neutral_cost: 15 # default 50 + cost_factor: 0.6 # Factor to multiply each cost from costmap by, default 3.0 + publish_potential: true # Publish Potential Costmap (this is not like the navfn pointcloud2 potential), default true \ No newline at end of file