28 lines
1.1 KiB
Python
28 lines
1.1 KiB
Python
#!/usr/bin/env python
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from dynamic_reconfigure.parameter_generator_catkin import *
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gen = ParameterGenerator()
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# This unusual line allows to reuse existing parameter definitions
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# that concern all localplanners
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#add_generic_localplanner_params(gen)
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# For integers and doubles:
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# Name Type Reconfiguration level
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# Description
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# Default Min Max
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# Collision avoidance
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grp_collision = gen.add_group("Collision avoidance", type="tab")
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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)
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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)
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grp_collision.add("collision_check_min_resolution_angular", double_t, 0, "", 3.1415, -3.1415, 3.1415)
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grp_collision.add("collision_check_no_poses", int_t, 0, "", -1, -1, 100)
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exit(gen.generate("mpc_local_planner", "mpc_local_planner", "CollisionReconfigure")) |