/homer_navigation/safe_path_weight:0.1# factor weight for safer path in relation to shortest path

/homer_navigation/waypoint_sampling_threshold:1.5# factor of how dense the path waypoints are sampled regarding the obstacle_distance of the last or next waypoint

/homer_navigation/frontier_safeness_factor:1.4# factor of min_allowed_obstacle_distance to an obstacle of a cell which is considered safe

/homer_navigation/safe_path_weight:0.03# factor weight for safer path in relation to shortest path

/homer_navigation/waypoint_sampling_threshold:2.0# factor of how dense the path waypoints are sampled regarding the obstacle_distance of the last or next waypoint

/homer_navigation/frontier_safeness_factor:1.0# factor of min_allowed_obstacle_distance to an obstacle of a cell which is considered safe

### cost calculation parameters

/homer_navigation/allowed_obstacle_distance/min:0.27# m robot must stay further away than this from obstacles

/homer_navigation/allowed_obstacle_distance/min:0.3# m robot must stay further away than this from obstacles

/homer_navigation/allowed_obstacle_distance/max:5.0# m not used at the moment

/homer_navigation/safe_obstacle_distance/min:0.5# m if possible robot should move further away than this from obstacles

/homer_navigation/safe_obstacle_distance/max:1.5# m further away than this from obstacles doesn't give a lesser cost addition

/homer_navigation/safe_obstacle_distance/min:1.0# m if possible robot should move further away than this from obstacles

/homer_navigation/safe_obstacle_distance/max:1.3# m further away than this from obstacles doesn't give a lesser cost addition

### collision Avoidance parameters

/homer_navigation/collision_distance:0.3# m distance to obstacle from robotFront in which the obstacle avoidance will be executed

/homer_navigation/collision_distance_near_target:0.2# m distance to obstacle from robotFront where obstacle avoidance won't be executed when near the target

/homer_navigation/collision_distance:0.20# m distance to obstacle from robotFront in which the obstacle avoidance will be executed

/homer_navigation/collision_distance_near_target:0.14# m distance to obstacle from robotFront where obstacle avoidance won't be executed when near the target

/homer_navigation/backward_collision_distance:0.5# m distance behind robot in which the robot won't back up into while doing collision avoidance

/homer_navigation/min_y:0.23# m half robot width for max_move_distance calculation

/homer_navigation/min_x:0.3# m distance from base_link to robot front for max_move_distance calculation

...

...

@@ -21,19 +21,20 @@

### speed parameters

/homer_navigation/min_turn_angle:0.1# rad values lower than this angle will let the navigation assume reaching the designated position

/homer_navigation/max_turn_speed:0.5# rad/s max turn velocity the navigation can send

/homer_navigation/min_turn_speed:0.3# rad/s min turn speed for Final Turn so the Robot doesn't stop turning

/homer_navigation/max_drive_angle:0.4# rad threshold for driving and turning - if above that value only turn

/homer_navigation/max_turn_speed:0.4# rad/s max turn velocity the navigation can send

/homer_navigation/min_turn_speed:0.2# rad/s min turn speed for Final Turn so the Robot doesn't stop turning

/homer_navigation/max_drive_angle:0.5# rad threshold for driving and turning - if above that value only turn

/homer_navigation/max_move_speed:0.4# m/s max move speed the navigation can send

/homer_navigation/max_move_speed:0.9# m/s max move speed the navigation can send

### caution factors values near 0 mean high caution values greater values mean less caution

### if any factor equals 0 the robot can't follow paths !!

/homer_navigation/map_speed_factor:1.2# factor for the max speed calculation of the obstacleDistancemap

/homer_navigation/waypoint_speed_factor:1.3# factor for the max speed calculation with the distance to the next Waypoint

/homer_navigation/obstacle_speed_factor:0.8# factor for the max speed calculation with the last laser max movement distance

/homer_navigation/map_speed_factor:1.0# factor for the max speed calculation of the obstacleDistancemap

/homer_navigation/waypoint_speed_factor:1.7# factor for the max speed calculation with the distance to the next Waypoint

/homer_navigation/obstacle_speed_factor:0.9# factor for the max speed calculation with the last laser max movement distance

/homer_navigation/target_distance_speed_factor:1.3# factor for the max speed calculation with the distance to target

/homer_navigation/callback_error_duration:0.3# s max duration between pose and laser callbacks before error handling is executed

/homer_navigation/use_ptu:false# bool toggles if the ptu is being used to look at the next Waypoint during navigation

/homer_navigation/unknown_threshold:50# obstacle strenght under which the obstacle is ignored by navigation

/homer_navigation/waypoint_radius_factor:0.25# factor for includance of obstacle map

/homer_navigation/unknown_threshold:70# obstacle strenght under which the obstacle is ignored by navigation

/homer_navigation/waypoint_radius_factor:0.5# factor for includance of obstacle map