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path follower parameters
Gohus edited this page May 23, 2017
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3 revisions
Parameters for the Path Follower package are listed here as follows:
- Common parameters
- Input-scaling controller
- Pure pursuit controller
- Stanley controller
- Orth-exp controller
- PID controller
- Dynamic Window Approach
- Potential field
- PBR controller
- SLP controller
- OFC controller
- HBZ controller
- Local planner
| Name | Type | Default | Description |
|---|---|---|---|
| ~controller_type | string | ackermann_purepursuit | Defines, which controller is used. |
| ~collision_avoider | string | Defines, which collisison avoider is used. | |
| ~world_frame | string | map | Name of the world frame. |
| ~robot_frame | string | base_link | Name of the robot frame. |
| ~odom_frame | string | odom | Name of the odometry frame. |
| ~waypoint_tolerance | double | 0.2 | |
| ~goal_tolerance | double | 0.15 | |
| ~steer_slow_threshold | double | 0.25 | Robot slows down, when steering angle exceeds this threshold. May not be supported by all robot controllers. |
| ~min_velocity | double | 0.4 | Minimum speed of the robot (needed, as the outdoor buggys can't handle velocities below about 0.3). |
| ~max_velocity | double | 2 | Maximum velocity (to prevent the high level control from running amok). |
| ~abort_if_obstacle_ahead | bool | 0 | If set to true, path execution is aborted, if an obstacle is detected on front of the robot. If false, the robot will stop, but not abort (the obstacle might move away). |
| ~coursepredictor/update_interval | double | 0.1 | Update interval (in sec) of the course prediction. |
| ~coursepredictor/buffer_size | int | 5 | Number of last positions that are kept in the buffer. |
| ~supervisor/use_path_lookout | bool | 0 | Set to true to activate supervisor path lookout (check if there are obstacles somewhere on the path ahead of the robot). |
| ~supervisor/use_waypoint_timeout | bool | 0 | Set to true to activate supervisor waypoint timeout. |
| ~supervisor/use_distance_to_path | bool | 0 | Set to true to activate supervisor distance to path. |
| ~supervisor/distance_to_path/max_dist | double | 10 | Maximum distance the robot is allowed to depart from the path. If this threshold is exceeded, the distance_to_path superv will abort. |
| ~supervisor/waypoint_timeout/time | double | 30 | If the robot needs more than this time (in seconds), supervisor WaypointTimeout will stop the path execution. |
| Name | Type | Default | Description |
|---|---|---|---|
| ~controller/2steer_inputscaling/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/2steer_inputscaling/k_backward | double | 7 | Tuning factor for backward driving. |
| ~controller/2steer_inputscaling/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/2steer_inputscaling/k_forward | double | 7 | Tuning factor for forward driving. |
| ~controller/2steer_inputscaling/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/2steer_inputscaling/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/2steer_inputscaling/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/2steer_inputscaling/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/2steer_inputscaling/max_steering_angle | double | 1.0472 | Maximum steering angle. |
| ~controller/2steer_inputscaling/max_steering_angle_speed | double | 1.7 | Maximum steering angle speed. |
| ~controller/2steer_inputscaling/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| ~controller/2steer_inputscaling/vehicle_length | double | 0.3 | Axis-centre distance. |
| ~controller/ackermann_inputscaling/factor_k1 | double | 1 | Factor for the steering angle speed. |
| ~controller/ackermann_inputscaling/factor_k2 | double | 3 | Factor for the steering angle speed. |
| ~controller/ackermann_inputscaling/factor_k3 | double | 3 | Factor for the steering angle speed. |
| ~controller/ackermann_inputscaling/factor_steering_angle | double | 1 | Set 1.0 for one axis steering, 0.5 for two axis steering. |
| ~controller/ackermann_inputscaling/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/ackermann_inputscaling/k_backward | double | 7 | Tuning factor for backward driving. |
| ~controller/ackermann_inputscaling/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/ackermann_inputscaling/k_forward | double | 7 | Tuning factor for forward driving. |
| ~controller/ackermann_inputscaling/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/ackermann_inputscaling/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/ackermann_inputscaling/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/ackermann_inputscaling/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/ackermann_inputscaling/max_steering_angle | double | 1.0472 | Maximum steering angle. |
| ~controller/ackermann_inputscaling/max_steering_angle_speed | double | 1.7 | Maximum steering angle speed. |
| ~controller/ackermann_inputscaling/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| ~controller/ackermann_inputscaling/vehicle_length | double | 0.3 | Axis-centre distance. |
| ~controller/unicycle_inputscaling/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/unicycle_inputscaling/k | double | 7 | Tuning factor for the angular velocity command. |
| ~controller/unicycle_inputscaling/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/unicycle_inputscaling/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/unicycle_inputscaling/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/unicycle_inputscaling/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/unicycle_inputscaling/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/unicycle_inputscaling/maximum_angular_velocity | double | 0.8 | Maximum angular velocity. |
| ~controller/unicycle_inputscaling/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| ~controller/unicycle_inputscaling/vehicle_length | double | 0.3 | Axis-centre distance. |
| Name | Type | Default | Description |
|---|---|---|---|
| ~controller/2steer_purepursuit/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/2steer_purepursuit/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/2steer_purepursuit/k_forward | double | 1.2 | Look-ahead distance factor while driving backwards. |
| ~controller/2steer_purepursuit/k_forward | double | 1.2 | Look-ahead distance factor while driving forwards. |
| ~controller/2steer_purepursuit/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/2steer_purepursuit/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/2steer_purepursuit/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/2steer_purepursuit/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/2steer_purepursuit/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| ~controller/2steer_purepursuit/vehicle_length | double | 0.34 | Axis-centre distance. |
| ~controller/ackermann_purepursuit/factor_lookahead_distance_forward | double | 0.8 | Lookahead distance factor while driving backwards. |
| ~controller/ackermann_purepursuit/factor_lookahead_distance_forward | double | 0.8 | Lookahead distance factor while driving forward. |
| ~controller/ackermann_purepursuit/factor_steering_angle | double | 1 | Set 1.0 for one axis steering, 0.5 for two axis steering. |
| ~controller/ackermann_purepursuit/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/ackermann_purepursuit/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/ackermann_purepursuit/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/ackermann_purepursuit/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/ackermann_purepursuit/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/ackermann_purepursuit/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/ackermann_purepursuit/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| ~controller/ackermann_purepursuit/vehicle_length | double | 0.34 | Axis-centre distance. |
| Name | Type | Default | Description |
|---|---|---|---|
| ~controller/2steer_stanley/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/2steer_stanley/k_backward | double | 0.6 | Tuning factor for backward driving. |
| ~controller/2steer_stanley/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/2steer_stanley/k_forward | double | 0.6 | Tuning factor for forward driving. |
| ~controller/2steer_stanley/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/2steer_stanley/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/2steer_stanley/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/2steer_stanley/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/2steer_stanley/max_steering_angle | double | 0.523599 | Maximum steering angle. |
| ~controller/2steer_stanley/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| ~controller/2steer_stanley/vehicle_length | double | 0.34 | Axis-centre distance. |
| ~controller/ackermann_stanley/factor_steering_angle | double | 1 | Set 1.0 for one axis steering, 0.5 for two axis steering. |
| ~controller/ackermann_stanley/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/ackermann_stanley/k_backward | double | 7 | Tuning factor for backward driving. |
| ~controller/ackermann_stanley/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/ackermann_stanley/k_forward | double | 7 | Tuning factor for forward driving. |
| ~controller/ackermann_stanley/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/ackermann_stanley/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/ackermann_stanley/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/ackermann_stanley/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/ackermann_stanley/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| ~controller/ackermann_stanley/vehicle_length | double | 0.3 | Axis-centre distance. |
| Name | Type | Default | Description |
|---|---|---|---|
| ~controller/ackermann_orthexp/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/ackermann_orthexp/k | double | 1.5 | Factor for regulating the convergence to the path. |
| ~controller/ackermann_orthexp/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/ackermann_orthexp/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/ackermann_orthexp/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/ackermann_orthexp/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/ackermann_orthexp/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/ackermann_orthexp/max_angular_velocity | double | 0.5 | Maximum angular velocity. |
| ~controller/ackermann_orthexp/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| ~controller/differential_orthexp/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/differential_orthexp/k | double | 1.5 | Factor for regulating the convergence to the path. |
| ~controller/differential_orthexp/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/differential_orthexp/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/differential_orthexp/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/differential_orthexp/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/differential_orthexp/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/differential_orthexp/max_angular_velocity | double | 0.5 | Maximum angular velocity. |
| ~controller/differential_orthexp/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| ~controller/omnidrive_orthexp/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/omnidrive_orthexp/k | double | 1.5 | Factor for regulating the convergence to the path. |
| ~controller/omnidrive_orthexp/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/omnidrive_orthexp/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/omnidrive_orthexp/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/omnidrive_orthexp/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/omnidrive_orthexp/kd | double | 0.2 | D component of the rotation control. |
| ~controller/omnidrive_orthexp/kp | double | 0.4 | P component of the rotation control. |
| ~controller/omnidrive_orthexp/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/omnidrive_orthexp/max_angular_velocity | double | 0.5 | Maximum angular velocity. |
| Name | Type | Default | Description |
|---|---|---|---|
| ~controller/ackermann_pid/dead_time | double | 0.1 | Time step that is used by predictPose |
| ~controller/ackermann_pid/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/ackermann_pid/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/ackermann_pid/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/ackermann_pid/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/ackermann_pid/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/ackermann_pid/l | double | 0.38 | Distance between front and rear axes of the robot. |
| ~controller/ackermann_pid/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/ackermann_pid/max_steer | double | 0.52 | Maximal allowed steering angle. Higher angles are capped by this value. |
| ~controller/ackermann_pid/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| ~controller/ackermann_pid/pid/kd | double | 0 | Derivative coefficient of the PID controller. |
| ~controller/ackermann_pid/pid/ki | double | 0.001 | Integral coefficient of the PID controller. |
| ~controller/ackermann_pid/pid/kp | double | 1 | Proportional coefficient of the PID controller. |
| ~controller/ackermann_pid/pid/ta | double | 0.03 | Update interval of the PID controller. |
| Name | Type | Default | Description |
|---|---|---|---|
| ~controller/dynamic_window/T_dwa | double | 0.125 | Time length defining the dynamic window. |
| ~controller/dynamic_window/ang_acc | double | 0.5 | Angular acceleration, |
| ~controller/dynamic_window/ang_dec | double | 0.01 | Angular deceleration. |
| ~controller/dynamic_window/angle_fact | double | 0.2 | Factor for regulating the target heading term. |
| ~controller/dynamic_window/disobst_fact | double | 0.2 | Factor for regulating the obstacle distance (clearance) term. |
| ~controller/dynamic_window/fact_T | double | 5 | Factor for multiplying the dynamic window time length. |
| ~controller/dynamic_window/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/dynamic_window/initial_vel_fact | double | 0.2 | Factor for scaling the initial velocity commands. |
| ~controller/dynamic_window/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/dynamic_window/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/dynamic_window/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/dynamic_window/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/dynamic_window/lin_acc | double | 2 | Linear acceleration. |
| ~controller/dynamic_window/lin_dec | double | 0.5 | Linear deceleration. |
| ~controller/dynamic_window/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/dynamic_window/max_ang_vel | double | 0.5 | Maximum angular velocity. |
| ~controller/dynamic_window/obst_dist_thresh | double | 0.6 | Threshold at which the obstacles are taken into account. |
| ~controller/dynamic_window/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| ~controller/dynamic_window/step_T | double | 0.4 | Time step inside the dynamic window time lenght |
| ~controller/dynamic_window/v_fact | double | 2 | Factor for regulating velocity term. |
| ~controller/dynamic_window/v_step | double | 0.05 | Linear velocity step of the dynamic window. |
| ~controller/dynamic_window/w_step | double | 0.05 | Angular velocity step of the dynamic window. |
| Name | Type | Default | Description |
|---|---|---|---|
| ~controller/pbr/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/pbr/k1 | double | 1 | Factor for tuning the angular velocity command. |
| ~controller/pbr/k2 | double | 1 | Factor for tuning the angular velocity command. |
| ~controller/pbr/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/pbr/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/pbr/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/pbr/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/pbr/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/pbr/max_angular_velocity | double | 0.8 | Maximum angular velocity. |
| ~controller/pbr/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| Name | Type | Default | Description |
|---|---|---|---|
| ~controller/kinematic_SLP/b | double | 0.2 | Factor for tuning the speed control. |
| ~controller/kinematic_SLP/epsilon | double | 0.5 | Error threshold for the speed control. |
| ~controller/kinematic_SLP/gamma | double | 1 | Factor for tuning the angular velocity command. |
| ~controller/kinematic_SLP/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/kinematic_SLP/k1 | double | 1 | Factor for tuning the speed of the virtual vehicle. |
| ~controller/kinematic_SLP/k2 | double | 1 | Factor for tuning the angular velocity command. |
| ~controller/kinematic_SLP/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/kinematic_SLP/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/kinematic_SLP/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/kinematic_SLP/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/kinematic_SLP/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/kinematic_SLP/max_angular_velocity | double | 0.8 | Maximum angular velocity |
| ~controller/kinematic_SLP/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| ~controller/kinematic_SLP/theta_a | double | 0.785398 | Factor for tuning the transient maneuvers. |
| Name | Type | Default | Description |
|---|---|---|---|
| ~controller/ofc/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/ofc/goal_x | double | 2 | x component of the goal position. |
| ~controller/ofc/goal_y | double | 0 | y component of the goal position. |
| ~controller/ofc/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/ofc/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/ofc/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/ofc/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/ofc/kd_ang | double | 0.1 | D component for the angular velocity control. |
| ~controller/ofc/kd_lin | double | 0.1 | D component for the linear velocity control. |
| ~controller/ofc/ki_ang | double | 0.1 | I component for the angular velocity control. |
| ~controller/ofc/ki_lin | double | 0.1 | I component for the linear velocity control. |
| ~controller/ofc/kp_ang | double | 1 | P component for the angular velocity control. |
| ~controller/ofc/kp_lin | double | 1 | P component for the linear velocity control. |
| ~controller/ofc/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/ofc/max_angular_velocity | double | 0.5 | Maximum angular velocity. |
| ~controller/ofc/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| Name | Type | Default | Description |
|---|---|---|---|
| ~controller/potential_field/dist_thres | double | 2.5 | Distance at which the obstacles are taken into account. |
| ~controller/potential_field/dist_thres | double | 2.5 | Distance at which the obstacles are taken into account. |
| ~controller/potential_field/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/potential_field/goal_tolerance | double | 0.3 | Minimum distance at which the robot stops in front of the goal. |
| ~controller/potential_field/kAtt | double | 0.2 | Factor for the attractive force influence. |
| ~controller/potential_field/kAtt | double | 0.2 | Factor for the attractive force influence. |
| ~controller/potential_field/kRep | double | 0.5 | Factor for the repulsive force influence. |
| ~controller/potential_field/kRep | double | 0.5 | Factor for the repulsive force influence. |
| ~controller/potential_field/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/potential_field/k_curv | double | 0.05 | The curvature factor. If increased, the robot speed decreases, as the curvature increases. |
| ~controller/potential_field/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/potential_field/k_g | double | 0.4 | The goal position factor. If increased, the robot speed decreases, as it approaches the goal position. |
| ~controller/potential_field/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/potential_field/k_o | double | 0.3 | The obstacle factor. If increased, the robot speed decreases, as it approaches obstacles. |
| ~controller/potential_field/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/potential_field/k_w | double | 0.5 | The rotation factor. If increased, the robot speed decreases, as the rotation increases. |
| ~controller/potential_field/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/potential_field/look_ahead_dist | double | 0.5 | Distance in path coordinates in front of the robot. |
| ~controller/potential_field/max_angular_velocity | double | 0.8 | Maximum angular velocity. |
| ~controller/potential_field/max_angular_velocity | double | 0.8 | Maximum angular velocity. |
| ~controller/potential_field/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| ~controller/potential_field/obst_threshold | double | 2 | The threshold at which the obstacles are taken into account. |
| Name | Type | Default | Description |
|---|---|---|---|
| ~local_planner/algorithm | string | NULL | Algorithm to be used by the Local Planner. |
| ~local_planner/curve_segment_subdivisions | int | 7 | Determines the number of subdivisions of curve segments in the final path |
| ~local_planner/distance_to_path_constraint | double | 2.5 | Determines how far from the path should the local planner perform |
| ~local_planner/ef | double | 2 | Exponential factor the dis2obst scorer (std::exp(/distance(point, obstacle)) - 1.0 |
| ~local_planner/intermediate_angles | int | 0 | Determines the number of intermediate angles between 0 and +-s_angle for the expansion of a node |
| ~local_planner/max_depth | int | 10 | Determines the maximum depth of the tree used by the local planner |
| ~local_planner/max_num_nodes | int | 400 | Determines the maximum number of nodes used by the local planner |
| ~local_planner/max_steering_angle | double | 35 | Determines the steering angle (in degrees) for the local planner |
| ~local_planner/mu | double | 0.1 | Determines the coefficient of friction |
| ~local_planner/safety_distance_forward | double | 0.55 | Determines the extra security distance in front of the robot |
| ~local_planner/safety_distance_surrounding | double | 0.65 | Determines the security distance around the robot |
| ~local_planner/score_weight_curvature | double | 4 | Determines whether the third scorer is used or not. (Curvature of the point (P)) |
| ~local_planner/score_weight_delta_curvature | double | 3 | Determines whether the fouth scorer is used or not. (Curvature of the point (D)) |
| ~local_planner/score_weight_delta_distance_to_path | double | 1.5 | Determines whether the second scorer is used or not. (Distance to global path (D)) |
| ~local_planner/score_weight_distance_to_obstacles | double | 5 | Determines whether the sixth scorer is used or not. (Distance to nearest obstacle) |
| ~local_planner/score_weight_distance_to_path | double | 3.5 | Determines whether the first scorer is used or not. (Distance to global path (P)) |
| ~local_planner/score_weight_level | double | 1.5 | Determines whether the fifth scorer is used or not. (Tree level reached) |
| ~local_planner/step_scale | double | 1.2 | Scales the size of individual steps during the search |
| ~local_planner/update_interval | double | 0.125 | Determines the update interval in seconds of the local planner |
| ~local_planner/use_distance_to_obstacle_constraint | bool | 1 | Determines whether the second constraint is used or not. (Distance to nearest obstacle) |
| ~local_planner/use_distance_to_path_constraint | bool | 1 | Determines whether the first constraint is used or not. (Distance to global path) |
| ~local_planner/use_velocity | bool | 1 | Determines if the current velocity is used by the local planner |
| Name | Type | Default | Description |
|---|---|---|---|
| ~controller/kinematic_HBZ/k1 | double | 1.0 | Factor for regulating the virtual vehicle speed. |
| ~controller/kinematic_HBZ/k2 | double | 1.0 | Factor for regulating the angular velocity command. |
| ~controller/kinematic_HBZ/lambda | double | 1.0 | Factor for regulating the angular velocity command. |
| ~controller/kinematic_HBZ/theta_a | double | M_PI/4.0 | Factor for regulating the transient manoeuvres. |
| ~controller/kinematic_HBZ/x_ICR | double | 0.0 | Parameter determining the lateral speed. |
| ~controller/kinematic_HBZ/y_ICR_l | double | 0.2335 | Position of the left ICR. |
| ~controller/kinematic_HBZ/y_ICR_r | double | -0.2335 | Position of the right ICR. |
| ~controller/kinematic_HBZ/alpha_l | double | 1.0 | Fuzzy parameter for the left wheels. |
| ~controller/kinematic_HBZ/alpha_r | double | 1.0 | Fuzzy parameter for the right wheels. |
| ~controller/kinematic_HBZ/epsilon | double | 0.5 | Error threshold for the speed control. |
| ~controller/kinematic_HBZ/b | double | 0.2 | Factor for regulating the speed control. |
| ~controller/kinematic_HBZ/max_angular_velocity | double | 0.2 | Maximum angular velocity. |
| ~controller/kinematic_HBZ_TT/des_dist | double | 2.0 | Desired distance for target tracking. |
| ~controller/kinematic_HBZ_TT/k_l | double | 1.0 | Factor for regulating the speed control for target tracking. |