update ignore

.gitignore

@@ -23,3 +23,4 @@ build
 
 # Compiled files
 mpc_local_planner/cmake-build-debug/
+mpc_local_planner/build

mpc_local_planner_examples/cfg/carlike/mpc_local_planner_params.yaml

@@ -31,13 +31,13 @@ MpcLocalPlannerROS:
 
   ## Collision avoidance
   collision:
-    min_obstacle_dist: 0.27 # Note, this parameter must be chosen w.r.t. the footprint_model
-    enable_dynamic_obstacles: False
-    force_inclusion_dist: 0.5
-    cutoff_dist: 2.5 
+    min_obstacle_dist: 0.25 # Note, this parameter must be chosen w.r.t. the footprint_model  於障礙物的最小距離
+    enable_dynamic_obstacles: False           # 是否启用动态障碍物
+    force_inclusion_dist: 0.5                 # 強制包含障礙物的距離
+    cutoff_dist: 2.5                          # 截止距离，不考虑超过这个距离的障碍物
     include_costmap_obstacles: True
-    costmap_obstacles_behind_robot_dist: 1.0
-    collision_check_no_poses: 5
+    costmap_obstacles_behind_robot_dist: 1.0  # 机器人后面的障碍物距离
+    collision_check_no_poses: 5               # 检查是否會碰撞的位資數量
     
 
   ## Planning grid 
@@ -73,12 +73,13 @@ MpcLocalPlannerROS:
     outer_ocp_iterations: 1
     xy_goal_tolerance: 0.2
     yaw_goal_tolerance: 0.1
-    global_plan_overwrite_orientation: True
-    global_plan_prune_distance: 1.0
+    global_plan_overwrite_orientation: True #
+    global_plan_prune_distance: 1.0         # 全局查找从第一个点开始查找，直到找到一个距离当前位置1m的点
     allow_init_with_backward_motion: True
-    max_global_plan_lookahead_dist: 1.5 
+    max_global_plan_lookahead_dist: 1.5     # 从距离机器人当前最近的点开始查找，直到距离满足1.5m
     force_reinit_new_goal_dist: 1.0
     force_reinit_new_goal_angular: 1.57
+    global_plan_viapoint_sep: 0.1           # 从全局路径中提取的点之间的最小距离
     prefer_x_feedback: False
     publish_ocp_results: False