Init commit of base global planner params yaml file.

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