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problem.md

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Problem File

Problem settings are provided to any algorithm via a .yaml file in the /problem directory. This file is read by the Problem class and creates a BatchTrajOptimizer or ISAM2TrajOptimizer and sets up the optimization settings for the algorithm being used.

For any problem, following is a list of parameters that can be provided. For some of the parameters please see the GPMP2 documentation to gain more insight:

  • start_conf: (optional) start configuration of the arm, read from arm_state_topic if not passed
  • start_pose: (optional) start pose of the base, read from base_state_topic if not passed
  • goal_conf: goal configuration of the arm
  • goal_pose: goal pose of the base
  • sdf_file: SDF file in the /sdf directory, used for collision avoidance, see how to create SDF files
  • total_time: total time length of the trajectory in seconds
  • total_step: total number of time steps (support states) on the trajectory (includes start and goal)
  • obs_check_inter: number of states to be interpolated between any two support states, for collision cost calculation during optimization
  • control_inter: number of states to be interpolated between any two support states, to generate executable trajectory for a robot
  • cost_sigma: covariance for obstacle factors
  • epsilon: safety distance from obstacles in meters
  • fix_pose_sigma: small covariance to fix the position part of the state (mainly used for start and goal)
  • fix_vel_sigma: small covariance to fix the velocity part of the state (mainly used for start and goal)
  • Qc: covariance for GP factors
  • opt_type: optimization method to be used, LM works fine in most cases

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