base_local_planner: teb_local_planner/TebLocalPlannerROS TebLocalPlannerROS: odom_topic: odom map_frame: /map # Trajectory teb_autosize: True dt_ref: 0.5 軌道の解像度[s] dt_hysteresis: 0.1 global_plan_overwrite_orientation: True max_global_plan_lookahead_dist: 5.0 #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: 0.5 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: 0.35 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: 100 #100 #1 weight_acc_lim_theta: 100 #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 #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?)