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Commit 427dd3b3 authored by Tobias Gröger's avatar Tobias Gröger
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Add teb config to aron

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2 merge requests!39Feature/teb config as json,!28Draft: Dev -> Main
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source/armarx/navigation/local_planning/aron/TimedElasticBands.xml
+ 515
− 2
View file @ 427dd3b3
......@@ -5,10 +5,523 @@
</AronIncludes>
<GenerateTypes>
<Object name='armarx::navigation::local_planning::arondto::TimedElasticBandsParams'>
<ObjectChild key='foo'>
<Object name='armarx::navigation::local_planning::arondto::TimedElasticBandsParams::pse'>
<ObjectChild key='pse_costum_obstacle_penalties'>
<bool />
</ObjectChild>
<ObjectChild key='pse_costum_obstacle_penalties_dynamic'>
<bool />
</ObjectChild>
<ObjectChild key='weight_global_path'>
<float />
</ObjectChild>
<ObjectChild key='lrk_use_alternative_approach'>
<bool />
</ObjectChild>
<ObjectChild key='lrk_enable_collision_check'>
<bool />
</ObjectChild>
<ObjectChild key='hybrid_homotopy_calculation'>
<bool />
</ObjectChild>
<ObjectChild key='robot_diff_circumscribed_inscribed_radius'>
<float />
</ObjectChild>
</Object>
<Object name='armarx::navigation::local_planning::arondto::TimedElasticBandsParams::trajectory'>
<ObjectChild key='teb_autosize'>
<bool />
</ObjectChild>
<ObjectChild key='dt_ref'>
<float />
</ObjectChild>
<ObjectChild key='dt_hysteresis'>
<float />
</ObjectChild>
<ObjectChild key='min_samples'>
<int />
</ObjectChild>
<ObjectChild key='max_samples'>
<int />
</ObjectChild>
<ObjectChild key='global_plan_overwrite_orientation'>
<bool />
</ObjectChild>
<ObjectChild key='allow_init_with_backwards_motion'>
<bool />
</ObjectChild>
<ObjectChild key='global_plan_viapoint_sep'>
<float />
</ObjectChild>
<ObjectChild key='via_points_ordered'>
<bool />
</ObjectChild>
<ObjectChild key='max_global_plan_lookahead_dist'>
<float />
</ObjectChild>
<ObjectChild key='global_plan_prune_distance'>
<float />
</ObjectChild>
<ObjectChild key='exact_arc_length'>
<bool />
</ObjectChild>
<ObjectChild key='force_reinit_new_goal_dist'>
<float />
</ObjectChild>
<ObjectChild key='force_reinit_new_goal_angular'>
<float />
</ObjectChild>
<ObjectChild key='feasibility_check_no_poses'>
<int />
</ObjectChild>
<ObjectChild key='feasibility_check_lookahead_distance'>
<float />
</ObjectChild>
<ObjectChild key='publish_feedback'>
<bool />
</ObjectChild>
<ObjectChild key='min_resolution_collision_check_angular'>
<float />
</ObjectChild>
<ObjectChild key='control_look_ahead_poses'>
<int />
</ObjectChild>
</Object>
<Object name='armarx::navigation::local_planning::arondto::TimedElasticBandsParams::robot'>
<ObjectChild key='max_vel_x'>
<float />
</ObjectChild>
<ObjectChild key='max_vel_x_backwards'>
<float />
</ObjectChild>
<ObjectChild key='max_vel_y'>
<float />
</ObjectChild>
<ObjectChild key='max_vel_theta'>
<float />
</ObjectChild>
<ObjectChild key='acc_lim_x'>
<float />
</ObjectChild>
<ObjectChild key='acc_lim_y'>
<float />
</ObjectChild>
<ObjectChild key='acc_lim_theta'>
<float />
</ObjectChild>
<ObjectChild key='min_turning_radius'>
<float />
</ObjectChild>
<ObjectChild key='wheelbase'>
<float />
</ObjectChild>
<ObjectChild key='cmd_angle_instead_rotvel'>
<bool />
</ObjectChild>
<ObjectChild key='is_footprint_dynamic'>
<bool />
</ObjectChild>
<ObjectChild key='use_proportional_saturation'>
<bool />
</ObjectChild>
<ObjectChild key='transform_tolerance'>
<float />
</ObjectChild>
</Object>
<Object name='armarx::navigation::local_planning::arondto::TimedElasticBandsParams::goal_tolerance'>
<ObjectChild key='xy_goal_tolerance'>
<float />
</ObjectChild>
<ObjectChild key='yaw_goal_tolerance'>
<float />
</ObjectChild>
<ObjectChild key='free_goal_vel'>
<bool />
</ObjectChild>
<ObjectChild key='complete_global_plan'>
<bool />
</ObjectChild>
</Object>
<Object name='armarx::navigation::local_planning::arondto::TimedElasticBandsParams::obstacles'>
<ObjectChild key='min_obstacle_dist'>
<float />
</ObjectChild>
<ObjectChild key='inflation_dist'>
<float />
</ObjectChild>
<ObjectChild key='dynamic_obstacle_inflation_dist'>
<float />
</ObjectChild>
<ObjectChild key='include_dynamic_obstacles'>
<bool />
</ObjectChild>
<ObjectChild key='include_costmap_obstacles'>
<bool />
</ObjectChild>
<ObjectChild key='costmap_obstacles_behind_robot_dist'>
<float />
</ObjectChild>
<ObjectChild key='obstacle_poses_affected'>
<int />
</ObjectChild>
<ObjectChild key='legacy_obstacle_association'>
<bool />
</ObjectChild>
<ObjectChild key='obstacle_association_force_inclusion_factor'>
<float />
</ObjectChild>
<ObjectChild key='obstacle_association_cutoff_factor'>
<float />
</ObjectChild>
<ObjectChild key='costmap_converter_plugin'>
<string />
</ObjectChild>
<ObjectChild key='costmap_converter_spin_thread'>
<bool />
</ObjectChild>
<ObjectChild key='costmap_converter_rate'>
<int />
</ObjectChild>
<ObjectChild key='obstacle_proximity_ratio_max_vel'>
<float />
</ObjectChild>
<ObjectChild key='obstacle_proximity_lower_bound'>
<float />
</ObjectChild>
<ObjectChild key='obstacle_proximity_upper_bound'>
<float />
</ObjectChild>
</Object>
<Object name='armarx::navigation::local_planning::arondto::TimedElasticBandsParams::optim'>
<ObjectChild key='no_inner_iterations'>
<int />
</ObjectChild>
<ObjectChild key='no_outer_iterations'>
<int />
</ObjectChild>
<ObjectChild key='optimization_activate'>
<bool />
</ObjectChild>
<ObjectChild key='optimization_verbose'>
<bool />
</ObjectChild>
<ObjectChild key='penalty_epsilon'>
<float />
</ObjectChild>
<ObjectChild key='weight_max_vel_x'>
<float />
</ObjectChild>
<ObjectChild key='weight_max_vel_y'>
<float />
</ObjectChild>
<ObjectChild key='weight_max_vel_theta'>
<float />
</ObjectChild>
<ObjectChild key='weight_acc_lim_x'>
<float />
</ObjectChild>
<ObjectChild key='weight_acc_lim_y'>
<float />
</ObjectChild>
<ObjectChild key='weight_acc_lim_theta'>
<float />
</ObjectChild>
<ObjectChild key='weight_kinematics_nh'>
<float />
</ObjectChild>
<ObjectChild key='weight_kinematics_forward_drive'>
<float />
</ObjectChild>
<ObjectChild key='weight_kinematics_turning_radius'>
<float />
</ObjectChild>
<ObjectChild key='weight_optimaltime'>
<float />
</ObjectChild>
<ObjectChild key='weight_shortest_path'>
<float />
</ObjectChild>
<ObjectChild key='weight_obstacle'>
<float />
</ObjectChild>
<ObjectChild key='weight_inflation'>
<float />
</ObjectChild>
<ObjectChild key='weight_dynamic_obstacle'>
<float />
</ObjectChild>
<ObjectChild key='weight_dynamic_obstacle_inflation'>
<float />
</ObjectChild>
<ObjectChild key='weight_velocity_obstacle_ratio'>
<float />
</ObjectChild>
<ObjectChild key='weight_viapoint'>
<float />
</ObjectChild>
<ObjectChild key='weight_prefer_rotdir'>
<float />
</ObjectChild>
<ObjectChild key='weight_adapt_factor'>
<float />
</ObjectChild>
<ObjectChild key='obstacle_cost_exponent'>
<float />
</ObjectChild>
</Object>
<Object name='armarx::navigation::local_planning::arondto::TimedElasticBandsParams::hcp'>
<ObjectChild key='enable_homotopy_class_planning'>
<bool />
</ObjectChild>
<ObjectChild key='enable_multithreading'>
<bool />
</ObjectChild>
<ObjectChild key='simple_exploration'>
<bool />
</ObjectChild>
<ObjectChild key='max_number_classes'>
<int />
</ObjectChild>
<ObjectChild key='max_number_plans_in_current_class'>
<int />
</ObjectChild>
<ObjectChild key='selection_cost_hysteresis'>
<float />
</ObjectChild>
<ObjectChild key='selection_prefer_initial_plan'>
<float />
</ObjectChild>
<ObjectChild key='selection_obst_cost_scale'>
<float />
</ObjectChild>
<ObjectChild key='selection_viapoint_cost_scale'>
<float />
</ObjectChild>
<ObjectChild key='selection_alternative_time_cost'>
<bool />
</ObjectChild>
<ObjectChild key='selection_dropping_probability'>
<float />
</ObjectChild>
<ObjectChild key='switching_blocking_period'>
<float />
</ObjectChild>
<ObjectChild key='obstacle_keypoint_offset'>
<float />
</ObjectChild>
<ObjectChild key='obstacle_heading_threshold'>
<float />
</ObjectChild>
<ObjectChild key='roadmap_graph_no_samples'>
<int />
</ObjectChild>
<ObjectChild key='roadmap_graph_area_width'>
<float />
</ObjectChild>
<ObjectChild key='roadmap_graph_area_length_scale'>
<float />
</ObjectChild>
<ObjectChild key='h_signature_prescaler'>
<float />
</ObjectChild>
<ObjectChild key='h_signature_threshold'>
<float />
</ObjectChild>
<ObjectChild key='viapoints_all_candidates'>
<bool />
</ObjectChild>
<ObjectChild key='visualize_hc_graph'>
<bool />
</ObjectChild>
<ObjectChild key='visualize_with_time_as_z_axis_scale'>
<float />
</ObjectChild>
<ObjectChild key='delete_detours_backwards'>
<bool />
</ObjectChild>
<ObjectChild key='detours_orientation_tolerance'>
<float />
</ObjectChild>
<ObjectChild key='length_start_orientation_vector'>
<float />
</ObjectChild>
<ObjectChild key='max_ratio_detours_duration_best_duration'>
<float />
</ObjectChild>
</Object>
<Object name='armarx::navigation::local_planning::arondto::TimedElasticBandsParams::recovery'>
<ObjectChild key='shrink_horizon_backup'>
<bool />
</ObjectChild>
<ObjectChild key='shrink_horizon_min_duration'>
<float />
</ObjectChild>
<ObjectChild key='oscillation_recovery'>
<bool />
</ObjectChild>
<ObjectChild key='oscillation_v_eps'>
<float />
</ObjectChild>
<ObjectChild key='oscillation_omega_eps'>
<float />
</ObjectChild>
<ObjectChild key='oscillation_recovery_min_duration'>
<float />
</ObjectChild>
<ObjectChild key='oscillation_filter_duration'>
<float />
</ObjectChild>
</Object>
<Object name='armarx::navigation::local_planning::arondto::TimedElasticBandsParams'>
<ObjectChild key='odom_topic'>
<string />
</ObjectChild>
<ObjectChild key='map_frame'>
<string />
</ObjectChild>
<ObjectChild key='pse'>
<armarx::navigation::local_planning::arondto::TimedElasticBandsParams::pse />
</ObjectChild>
<ObjectChild key='trajectory'>
<armarx::navigation::local_planning::arondto::TimedElasticBandsParams::trajectory />
</ObjectChild>
<ObjectChild key='robot'>
<armarx::navigation::local_planning::arondto::TimedElasticBandsParams::robot />
</ObjectChild>
<ObjectChild key='goal_tolerance'>
<armarx::navigation::local_planning::arondto::TimedElasticBandsParams::goal_tolerance />
</ObjectChild>
<ObjectChild key='obstacles'>
<armarx::navigation::local_planning::arondto::TimedElasticBandsParams::obstacles />
</ObjectChild>
<ObjectChild key='optim'>
<armarx::navigation::local_planning::arondto::TimedElasticBandsParams::optim />
</ObjectChild>
<ObjectChild key='hcp'>
<armarx::navigation::local_planning::arondto::TimedElasticBandsParams::hcp />
</ObjectChild>
<ObjectChild key='recovery'>
<armarx::navigation::local_planning::arondto::TimedElasticBandsParams::recovery />
</ObjectChild>
</Object>
</GenerateTypes>
</AronTypeDefinition>
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