50 lines
2.4 KiB
Python
50 lines
2.4 KiB
Python
#!/usr/bin/env python
|
|
|
|
from dynamic_reconfigure.parameter_generator_catkin import *
|
|
|
|
gen = ParameterGenerator()
|
|
|
|
# This unusual line allows to reuse existing parameter definitions
|
|
# that concern all localplanners
|
|
#add_generic_localplanner_params(gen)
|
|
|
|
# For integers and doubles:
|
|
# Name Type Reconfiguration level
|
|
# Description
|
|
# Default Min Max
|
|
|
|
grp_controller = gen.add_group("Controller", type="tab")
|
|
|
|
# Controller
|
|
|
|
grp_controller.add("xy_goal_tolerance", double_t, 0, "Allowed final euclidean distance to the goal position", 0.2, 0, 1)
|
|
|
|
grp_controller.add("yaw_goal_tolerance", double_t, 0, "Allowed final orientation error to the goal orientation", 0.1, 0, 1)
|
|
|
|
grp_controller.add("global_plan_overwrite_orientation", bool_t, 0, "Some global planners are not considering the orientation at local subgoals between start and global goal, therefore determine it automatically", True)
|
|
|
|
grp_controller.add("global_plan_prune_distance", double_t, 0, "", 1.0, 0, 10)
|
|
|
|
grp_controller.add("max_global_plan_lookahead_dist", double_t, 0, "Specify maximum length (cumulative Euclidean distances) of the subset of the global plan taken into account for optimization [if 0 or negative: disabled; the length is also bounded by the local costmap size]", 1.5, 0, 10)
|
|
|
|
grp_controller.add("global_plan_viapoint_sep", double_t, 0, "Min. separation between each two consecutive via-points extracted from the global plan [if negative: disabled]", -1, -1, 10)
|
|
|
|
grp_footprint = gen.add_group("Footprint", type="tab")
|
|
|
|
# Footprint model
|
|
|
|
grp_footprint.add("is_footprint_dynamic", bool_t, 0, "If true, updated the footprint before checking trajectory feasibility", False)
|
|
|
|
grp_collision = gen.add_group("Collision avoidance", type="tab")
|
|
|
|
# Collision avoidance
|
|
|
|
grp_collision.add("include_costmap_obstacles", bool_t, 0, "Specify whether the obstacles in the costmap should be taken into account directly (this is necessary if no seperate clustering and detection is implemented)", True)
|
|
|
|
grp_collision.add("costmap_obstacles_behind_robot_dist", double_t, 0, "Limit the occupied local costmap obstacles taken into account for planning behind the robot (specify distance in meters)", 1.5, 0, 10)
|
|
|
|
grp_collision.add("collision_check_min_resolution_angular", double_t, 0, "", 3.1415, -3.1415, 3.1415)
|
|
grp_collision.add("collision_check_no_poses", int_t, 0, "", -1, -1, 100)
|
|
|
|
|
|
exit(gen.generate("mpc_local_planner", "mpc_local_planner", "MpcLocalPlannerReconfigure")) |