update ignore

master
邱棚 2024-07-16 15:15:24 +08:00
parent 26f54ab8a6
commit 8d89011cdf
2 changed files with 11 additions and 9 deletions

1
.gitignore vendored
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@ -23,3 +23,4 @@ build
# Compiled files
mpc_local_planner/cmake-build-debug/
mpc_local_planner/build

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@ -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