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| 1 | +/**: |
| 2 | + ros__parameters: |
| 3 | + common: |
| 4 | + output_delta_arc_length: 0.5 # [m] delta arc length for output trajectory |
| 5 | + |
| 6 | + debug: |
| 7 | + enable_calculation_time_info: false # flag to print calculation times |
| 8 | + id: 0 # id of the candidate paths for which to print/show details (e.g., footprint in rviz) |
| 9 | + |
| 10 | + preprocessing: |
| 11 | + force_zero_initial_deviation: True # if true, initial planning starts from the reference path |
| 12 | + force_zero_initial_heading: True # if true, initial planning starts with a heading aligned with the reference path |
| 13 | + smooth_reference_trajectory: False # if true, the reference trajectory is smoothed before being used for planning |
| 14 | + constraints: |
| 15 | + hard: |
| 16 | + max_curvature: 3.0 # [m⁻¹] maximum curvature of a sampled path |
| 17 | + min_curvature: -3.0 # [m⁻¹] minimum curvature of a sampled path |
| 18 | + soft: |
| 19 | + lateral_deviation_weight: 1.0 # cost weight for lateral deviation between the end of a sampled path and the reference path |
| 20 | + length_weight: 1.0 # cost weight for the length of a sampled path |
| 21 | + curvature_weight: 2000.0 # cost weight for the curvature of a sampled path |
| 22 | + weights: [0.5,1.0,20.0] |
| 23 | + sampling: |
| 24 | + enable_frenet: True |
| 25 | + enable_bezier: False |
| 26 | + resolution: 0.5 # [m] target distance between sampled path points |
| 27 | + previous_path_reuse_points_nb: 2 # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc) |
| 28 | + target_lengths: [20.0, 40.0] # [m] target lengths of the sampled paths |
| 29 | + nb_target_lateral_positions: 0 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) |
| 30 | + target_lateral_positions: [-4.5,-2.5, 0.0, 2.5,4.5] # manual values that are only used if nb_target_lateral_positions = 0 |
| 31 | + frenet: # target values for the sampled "lateral deviation over longitudinal position" polynomial |
| 32 | + target_lateral_velocities: [-0.5, 0.0, 0.5] |
| 33 | + target_lateral_accelerations: [0.0] |
| 34 | + # bezier: |
| 35 | + # nb_k: 3 # number of sampled curvature values |
| 36 | + # mk_min: 0.0 # minimum curvature value |
| 37 | + # mk_max: 10.0 # maximum curvature value |
| 38 | + # nb_t: 5 # number of sampled acceleration values |
| 39 | + # mt_min: 0.3 # minimum acceleration value |
| 40 | + # mt_max: 1.7 # maximum acceleration value |
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