Commit aa192522 authored by Niklas Yann Wettengel's avatar Niklas Yann Wettengel
Browse files

homer_navigation: pioneer parameters

parent b306d7b1
/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
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