desired_linear_vel: |
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- Description
The desired maximum linear velocity (m/s) to use.
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max_linear_accel: |
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- Description
Maximum acceleration for linear velocity (m/s/s)
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max_linear_decel: |
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- Description
Maximum deceleration for linear velocity (m/s/s)
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lookahead_dist: |
- Description
The lookahead distance (m) to use to find the lookahead point when use_velocity_scaled_lookahead_dist is false .
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min_lookahead_dist: |
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- Description
The minimum lookahead distance (m) threshold when use_velocity_scaled_lookahead_dist is true .
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max_lookahead_dist: |
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- Description
The maximum lookahead distance (m) threshold when use_velocity_scaled_lookahead_dist is true .
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lookahead_time: |
- Description
The time (s) to project the velocity by when use_velocity_scaled_lookahead_dist is true . Also known as the lookahead gain.
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rotate_to_heading_angular_vel: |
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- Description
If use_rotate_to_heading is true , this is the angular velocity to use.
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transform_tolerance: |
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- Description
The TF transform tolerance (s).
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use_velocity_scaled_lookahead_dist: |
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- Description
Whether to use the velocity scaled lookahead distances or constant lookahead_distance .
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min_approach_linear_velocity: |
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- Description
The minimum velocity (m/s) threshold to apply when approaching the goal to ensure progress, when use_approach_linear_velocity_scaling is true .
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use_approach_linear_velocity_scaling: |
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- Description
Whether to scale the linear velocity down on approach to the goal for a smooth stop.
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max_allowed_time_to_collision: |
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- Description
The time (s) to project a velocity command forward to check for collisions.
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use_regulated_linear_velocity_scaling: |
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- Description
Whether to use the regulated features for path curvature (e.g. slow on high curvature paths).
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use_cost_regulated_linear_velocity_scaling: |
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- Description
Whether to use the regulated features for proximity to obstacles (e.g. slow in close proximity to obstacles).
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regulated_linear_scaling_min_radius: |
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- Description
The turning radius (m) for which the regulation features are triggered when use_regulated_linear_velocity_scaling is tru . Remember, sharper turns have smaller radii.
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regulated_linear_scaling_min_speed: |
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- Description
The minimum speed (m/s) for which any of the regulated heuristics can send, to ensure process is still achievable even in high cost spaces with high curvature.
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use_rotate_to_heading: |
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- Description
Whether to enable rotating to rough heading and goal orientation when using holonomic planners. Recommended on for all robot types that can rotate in place.
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rotate_to_heading_min_angle: |
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Type |
Default |
double |
0.785 |
- Description
The difference in the path orientation and the starting robot orientation (radians) to trigger a rotate in place, if use_rotate_to_heading is true .
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max_angular_accel: |
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- Description
Maximum allowable angular acceleration (m/s/s) while rotating to heading, if use_rotate_to_heading is true .
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goal_dist_tol: |
- Description
XY tolerance from goal to rotate to the goal heading, if use_rotate_to_heading is true . This should match or be smaller than the GoalChecker ’s translational goal tolerance.
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