From 169d91b4471301ccdb78d71463c2e63f849f9ec3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Wed, 3 Aug 2022 15:01:49 +0200
Subject: [PATCH] Add teb default config as json
---
.../TimedElasticBands/default.json | 150 ++++++++++++++++++
1 file changed, 150 insertions(+)
create mode 100644 data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
diff --git a/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
new file mode 100644
index 00000000..344df69e
--- /dev/null
+++ b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
@@ -0,0 +1,150 @@
+
+{
+ "odom_topic": "odom",
+ "map_frame": "odom",
+
+ "pse": {
+ "pse_costum_obstacle_penalties": true,
+ "pse_costum_obstacle_penalties_dynamic": true,
+ "weight_global_path": 0.1,
+ "lrk_use_alternative_approach": false,
+ "lrk_enable_collision_check": true,
+ "hybrid_homotopy_calculation": true,
+ "robot_diff_circumscribed_inscribed_radius": 0.0
+ },
+
+ "trajectory": {
+ "teb_autosize": true,
+ "dt_ref": 0.3,
+ "dt_hysteresis": 0.1,
+ "min_samples": 3,
+ "max_samples": 500,
+ "global_plan_overwrite_orientation": true,
+ "allow_init_with_backwards_motion": false,
+ "global_plan_viapoint_sep": -1,
+ "via_points_ordered": false,
+ "max_global_plan_lookahead_dist": 1,
+ "global_plan_prune_distance": 1,
+ "exact_arc_length": false,
+ "force_reinit_new_goal_dist": 1,
+ "force_reinit_new_goal_angular": 0.5 * M_PI,
+ "feasibility_check_no_poses": 5,
+ "feasibility_check_lookahead_distance": -1,
+ "publish_feedback": false,
+ "min_resolution_collision_check_angular": M_PI,
+ "control_look_ahead_poses": 1
+ },
+
+ "robot": {
+ "max_vel_x": 0.4,
+ "max_vel_x_backwards": 0.2,
+ "max_vel_y": 0.0,
+ "max_vel_theta": 0.3,
+ "acc_lim_x": 0.5,
+ "acc_lim_y": 0.5,
+ "acc_lim_theta": 0.5,
+ "min_turning_radius": 0,
+ "wheelbase": 1.0,
+ "cmd_angle_instead_rotvel": false,
+ "is_footprint_dynamic": false,
+ "use_proportional_saturation": false,
+ "transform_tolerance": 0.5
+ },
+
+ "goal_tolerance": {
+ "xy_goal_tolerance": 0.2,
+ "yaw_goal_tolerance": 0.2,
+ "free_goal_vel": false,
+ "complete_global_plan": true
+
+ },
+
+ "obstacles": {
+ "min_obstacle_dist": 0.5,
+ "inflation_dist": 0.0,
+ "dynamic_obstacle_inflation_dist": 0.6,
+ "include_dynamic_obstacles": true,
+ "include_costmap_obstacles": true,
+ "costmap_obstacles_behind_robot_dist": 1.5,
+ "obstacle_poses_affected": 25,
+ "legacy_obstacle_association": false,
+ "obstacle_association_force_inclusion_factor": 1.5,
+ "obstacle_association_cutoff_factor": 5,
+ "costmap_converter_plugin": "",
+ "costmap_converter_spin_thread": true,
+ "costmap_converter_rate": 5,
+ "obstacle_proximity_ratio_max_vel": 1,
+ "obstacle_proximity_lower_bound": 0,
+ "obstacle_proximity_upper_bound": 0.5
+ },
+
+ "optim": {
+ "no_inner_iterations": 5,
+ "no_outer_iterations": 4,
+ "optimization_activate": true,
+ "optimization_verbose": false,
+ "penalty_epsilon": 0.05,
+ "weight_max_vel_x": 2,
+ "weight_max_vel_y": 2,
+ "weight_max_vel_theta": 1,
+ "weight_acc_lim_x": 1,
+ "weight_acc_lim_y": 1,
+ "weight_acc_lim_theta": 1,
+ "weight_kinematics_nh": 1000,
+ "weight_kinematics_forward_drive": 1,
+ "weight_kinematics_turning_radius": 1,
+ "weight_optimaltime": 1,
+ "weight_shortest_path": 0,
+ "weight_obstacle": 50,
+ "weight_inflation": 0.1,
+ "weight_dynamic_obstacle": 50,
+ "weight_dynamic_obstacle_inflation": 0.1,
+ "weight_velocity_obstacle_ratio": 0,
+ "weight_viapoint": 1,
+ "weight_prefer_rotdir": 50,
+ "weight_adapt_factor": 2.0,
+ "obstacle_cost_exponent": 1.0
+ },
+
+ "hcp": {
+ "enable_homotopy_class_planning": true,
+ "enable_multithreading": true,
+ "simple_exploration": false,
+ "max_number_classes": 5,
+ "max_number_plans_in_current_class" 0,
+ "selection_cost_hysteresis": 1.0,
+ "selection_prefer_initial_plan": 0.95,
+ "selection_obst_cost_scale": 100.0,
+ "selection_viapoint_cost_scale": 1.0,
+ "selection_alternative_time_cost": false,
+ "selection_dropping_probability": 0.0,
+ "switching_blocking_period": 0.0,
+
+ "obstacle_keypoint_offset": 0.1,
+ "obstacle_heading_threshold": 0.45,
+ "roadmap_graph_no_samples": 20,
+ "roadmap_graph_area_width": 10,
+ "roadmap_graph_area_length_scale": 1.0,
+ "h_signature_prescaler": 1,
+ "h_signature_threshold": 0.1,
+
+ "viapoints_all_candidates": true,
+
+ "visualize_hc_graph": false,
+ "visualize_with_time_as_z_axis_scale": 0.0,
+ "delete_detours_backwards": true,
+ "detours_orientation_tolerance": M_PI / 2.0,
+ "length_start_orientation_vector": 0.4,
+ "max_ratio_detours_duration_best_duration": 3.0,
+ },
+
+ "recovery": {
+ "shrink_horizon_backup": true,
+ "shrink_horizon_min_duration": 10,
+ "oscillation_recovery": true,
+ "oscillation_v_eps": 0.1,
+ "oscillation_omega_eps": 0.1,
+ "oscillation_recovery_min_duration": 10,
+ "oscillation_filter_duration": 10
+ }
+}
--
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