<name> .tolerance: |
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- Description
Tolerance in meters between requested goal pose and end of path.
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<name> .downsample_costmap: |
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- Description
Whether to downsample costmap to another resolution for search.
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<name> .downsampling_factor: |
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- Description
Multiplier factor to downsample costmap by (e.g. if 5cm costmap at 2 downsample_factor , 10cm output).
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<name> .allow_unknown: |
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- Description
Whether to allow traversing/search in unknown space.
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<name> .max_iterations: |
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- Description
Maximum number of search iterations before failing to limit compute time, disabled by -1.
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<name> .max_on_approach_iterations: |
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- Description
Maximum number of iterations after the search is within tolerance before returning approximate path with best heuristic if exact path not found.
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<name> .max_planning_time: |
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- Description
Maximum planning time in seconds.
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<name> .analytic_expansion_ratio: |
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- Description
SE2 node will attempt to complete an analytic expansions proportional to this value and the minimum heuristic.
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<name> .smooth_path: |
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- Description
Whether to smooth path with CG smoother.
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<name> .motion_model_for_search: |
|
Type |
Default |
string |
“DUBIN” |
- Description
Motion model enum string to search with. For SE2 node, default is “DUBIN”. For 2D it is “MOORE”. Options for SE2 are DUBIN or REEDS_SHEPP. Options for 2D is MOORE and VON_NEUMANN.
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<name> .angle_quantization_bins: |
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- Description
Number of angular bins to use for SE2 search. For 2D this must be 1, for SE2 it can be any number, but a good baseline is 72 (for 5 degree increments).
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<name> .minimum_turning_radius: |
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- Description
Minimum turning radius in meters of vehicle. Also used in the smoother to compute maximum curvature.
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<name> .reverse_penalty: |
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- Description
Heuristic penalty to apply to SE2 node if searching in reverse direction. Only used in REEDS_SHEPP motion model.
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<name> .change_penalty: |
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- Description
Heuristic penalty to apply to SE2 node if changing direction in search.
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<name> .non_straight_penalty: |
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- Description
Heuristic penalty to apply to SE2 node if searching in non-straight direction.
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<name> .cost_penalty: |
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- Description
Heuristic penalty to apply to SE2 node for cost at pose. Allows Hybrid-A* to be cost aware.
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<name> .smoother.smoother.w_curve: |
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- Description
CG smoother cost function weight on the curvature of path.
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<name> .smoother.smoother.w_dist: |
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- Description
CG smoother cost function weight on the distance from the original path. Disabled by default.
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<name> .smoother.smoother.w_smooth: |
|
Type |
Default |
double |
15000.0 |
- Description
CG smoother cost function weight on the distance between nodes.
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<name> .smoother.smoother.w_cost: |
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- Description
CG smoother cost function weight on the costmap’s cost.
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<name> .smoother.smoother.cost_scaling_factor: |
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- Description
Scale factor for the inflation layer. Must be the same as your inflation layer’s value. Used to approximate a Voronoi field.
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<name> .smoother.optimizer.max_time: |
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- Description
Maximum time spent smoothing, in seconds. If planning takes too long, this can be dynamically adjusted to ensure the planner meets max_planning_time .
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<name> .smoother.optimizer.max_iterations: |
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- Description
Maximum number of iterations we can run the CG smoother.
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<name> .smoother.optimizer.debug_optimizer: |
|
- Description
Whether to print debug info from Ceres.
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<name> .smoother.optimizer.gradient_tol: |
|
Type |
Default |
double |
1e-10 |
- Description
Minimum change in gradient to terminate smoothing.
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<name> .smoother.optimizer.fn_tol: |
|
- Description
Minimum change in function to terminate smoothing.
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<name> .smoother.optimizer.param_tol: |
|
Type |
Default |
double |
1e-15 |
- Description
Minimum change in parameter blocks to terminate smoothing.
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<name> .smoother.optimizer.advanced.min_line_search_step_size: |
|
Type |
Default |
double |
1e-20 |
- Description
Terminate smoothing iteration if change in parameter block less than this.
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<name> .smoother.optimizer.advanced.max_num_line_search_step_size_iterations: |
|
- Description
Maximum iterations for line search in CG smoother.
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<name> .smoother.optimizer.advanced.line_search_sufficient_function_decrease: |
|
Type |
Default |
double |
1e-20 |
- Description
Function decrease amount to terminate current line search iteration.
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<name> .smoother.optimizer.advanced.max_num_line_search_direction_restarts: |
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- Description
Maximum umber of restarts of line search when over-shoots.
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<name> .smoother.optimizer.advanced.max_line_search_step_expansion: |
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- Description
Step size multiplier at each iteration of line search.
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