From 8d89011cdfdbb38eec61ef426009d9f527ad0b88 Mon Sep 17 00:00:00 2001 From: 12345qiupeng Date: Tue, 16 Jul 2024 15:15:24 +0800 Subject: [PATCH] update ignore --- .gitignore | 1 + .../cfg/carlike/mpc_local_planner_params.yaml | 19 ++++++++++--------- 2 files changed, 11 insertions(+), 9 deletions(-) diff --git a/.gitignore b/.gitignore index bf650b6..63ed3ac 100644 --- a/.gitignore +++ b/.gitignore @@ -23,3 +23,4 @@ build # Compiled files mpc_local_planner/cmake-build-debug/ +mpc_local_planner/build diff --git a/mpc_local_planner_examples/cfg/carlike/mpc_local_planner_params.yaml b/mpc_local_planner_examples/cfg/carlike/mpc_local_planner_params.yaml index ff7714a..ad94ee8 100644 --- a/mpc_local_planner_examples/cfg/carlike/mpc_local_planner_params.yaml +++ b/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