base_local_planner: teb_local_planner/TebLocalPlannerROS

TebLocalPlannerROS:
  
  odom_topic: odom
  map_frame: /map
  
  # Trajectory
  teb_autosize: True
  dt_ref: 0.5 #0.3 軌道の解像度[s]
  dt_hysteresis: 0.1
  global_plan_overwrite_orientation: True
  max_global_plan_lookahead_dist: 2.0 #仮想的なローカルゴールまでの距離
  feasibility_check_no_poses: 5
  
  # Robot
  max_vel_x: 1.2
  max_vel_x_backwards: 0.2
  max_vel_theta: 1.0
  acc_lim_x: 2.0
  acc_lim_theta: 1.0
  min_turning_radius: 0.0
  footprint_model: # types: "point", "circular", "two_circles", "line", "polygon"
    # type: "polygon"
    # vertices: [ [0.25, 0.4], [0.25, -0.4], [-0.65, -0.4], [-0.65, 0.4] ]
    type: "line"
    line_start: [-0.09, 0.0]
    line_end: [-0.31, 0.0]
  
  # GoalTolerance
  xy_goal_tolerance: 0.3
  yaw_goal_tolerance: 0.3
  free_goal_vel: False
  
  # Obstacles
  min_obstacle_dist: 0.4
  inflation_dist: 0.5 #0.6
  include_dynamic_obstacles: False
  include_costmap_obstacles: True  # False -> 障害物割と無視
  costmap_obstacles_behind_robot_dist: 0.5 #1.0
  obstacle_poses_affected: 30 #30  # 障害物に対して考慮する軌道の数？
  costmap_converter_plugin: ""
  costmap_converter_spin_thread: True
  costmap_converter_rate: 5
  
  # Optimization
  no_inner_iterations: 4 #5 反復計算の回数？
  no_outer_iterations: 3 #4 no_inner_iterations x no_outer_iterations 回だけ計算をする？
  optimization_activate: True
  optimization_verbose: False
  penalty_epsilon: 0.1
  weight_max_vel_x: 1000 #2
  weight_max_vel_theta: 1000 #1
  weight_acc_lim_x: 1 #100 #1
  weight_acc_lim_theta: 1 #1
  weight_kinematics_nh: 1000
  weight_kinematics_forward_drive: 100 #1
  weight_kinematics_turning_radius: 1
  weight_optimaltime: 1
  weight_shortest_path: 40
  weight_obstacle: 40
  weight_inflation: 0.1
  weight_dynamic_obstacle: 10 # not in use yet
  selection_alternative_time_cost: False # not in use yet
  
  # Homotopy Class Planner
  enable_homotopy_class_planning: False #True #軌道の複数代替案を計算するかどうか？
  enable_multithreading: False #True
  simple_exploration: False
  max_number_classes: 2 #4 軌道の代替案の計算個数
  roadmap_graph_no_samples: 15
  roadmap_graph_area_width: 5
  h_signature_prescaler: 0.5
  h_signature_threshold: 0.1
  obstacle_keypoint_offset: 0.1
  obstacle_heading_threshold: 0.45
  visualize_hc_graph: False


  # https://mowito-navstack.readthedocs.io/en/latest/step_5c.html
  # 処理を速くするために
  # ・costmap_obstacles_behind_robot_dist -> 小さく
  # ・obstacle_poses_affected -> 小さく
  # ・footprint_model -> polygonを避ける
  # ・dt_ref -> 大きく
  # ・max_global_plan_lookahead_dist -> 小さく
  # ・no_inner_iterations, no_outer_iterations -> 小さく
  # ・weight_acc_lim -> 0.0に
  # ・enable_homotopy_class_planning -> False ※影響大
  # ・max_number_classes -> 小さく（2で十分？）