From c9d9b5c698d1f5aff060806481d18ba7e9b18cb2 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Thu, 7 Mar 2024 14:12:33 -0800 Subject: [PATCH] Update default recommendation from Obstacles to Cost critic in MPPI (#4170) Signed-off-by: Steve Macenski --- nav2_mppi_controller/README.md | 34 +++++++++++++++++----------------- 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/nav2_mppi_controller/README.md b/nav2_mppi_controller/README.md index 2a9a25a863..3bf779e093 100644 --- a/nav2_mppi_controller/README.md +++ b/nav2_mppi_controller/README.md @@ -201,7 +201,7 @@ controller_server: time_step: 3 AckermannConstraints: min_turning_r: 0.2 - critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] + critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] ConstraintCritic: enabled: true cost_power: 1 @@ -221,24 +221,24 @@ controller_server: cost_power: 1 cost_weight: 5.0 threshold_to_consider: 0.5 - ObstaclesCritic: - enabled: true - cost_power: 1 - repulsion_weight: 1.5 - critical_weight: 20.0 - consider_footprint: false - collision_cost: 10000.0 - collision_margin_distance: 0.1 - near_goal_distance: 0.5 - # Option to replace Obstacles and use Cost instead - # CostCritic: + # ObstaclesCritic: # enabled: true # cost_power: 1 - # cost_weight: 3.81 - # critical_cost: 300.0 - # consider_footprint: true - # collision_cost: 1000000.0 - # near_goal_distance: 1.0 + # repulsion_weight: 1.5 + # critical_weight: 20.0 + # consider_footprint: false + # collision_cost: 10000.0 + # collision_margin_distance: 0.1 + # near_goal_distance: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + critical_cost: 300.0 + consider_footprint: true + collision_cost: 1000000.0 + near_goal_distance: 1.0 + PathAlignCritic: PathAlignCritic: enabled: true cost_power: 1