smartbin-v1-standalone.yaml

# The distance between the front and
# rear axle of the racecar
wheelbase: 0.32 # meters

# Limits on the speed and steering angle
max_speed: 0.3 # meters/second
max_steering_angle: 0.35 # radians

# The rate at which the pose and the lidar publish
update_pose_rate: 0.002

# The distance from the center of the
# rear axis (base_link) to the lidar
scan_distance_to_base_link: 0.404 # meters

# The distance from the center of the
# rear axis (base_link) to the lidar
scan2_distance_to_base_link: -0.404 # meters

# Lidar simulation parameters
scan_beams: 500
scan_field_of_view: 3.14 # radians

# The standard deviation of the noise applied
# to the lidar simulation
scan_std_dev: 0.01 # meters

# The probability threshold for points
# in the occupancy grid to be considered "free".
# Used for the lidar simulator.
map_free_threshold: 0.3

# Enables joystick if true
joy: true
joy_speed_axis: 1
joy_angle_axis: 3
joy_set_anchor: 1
joy_self_rotate_axis: 0
joy_max_speed: 0.5 # meters/second

obstacle_radius: 0.3
obstacle_moving_speed: 1.0
dynamic_obstacle_mode: 1 # 0 means straight moving, 1 means circular movement

# The names of topics to listen and publish to
joy_topic: "/wdriver/joy"
drive_topic: "/wdriver/low_level/ackermann_cmd_mux/output"
map_topic: "/sim_map"
distance_transform_topic: "/dt"
traj_anchor_topic: "/clicked_point"
scan_topic: "/front_scan"
scan2_topic: "/back_scan"
pose_topic: "/pose"
odom_topic: "/odom"
ground_truth_topic: "/ground_truth"
pose_rviz_topic: "/initialpose"
static_obstacle_topic: "/clicked_point_commented"
obstacle_pub_topic: "/obstacles"
dynamic_obstacle_topic: "/move_base_simple/goal_commented"

# The names of the transformation frames published to
map_frame: "map"
base_frame: "base_link"
scan_frame: "laser"
scan2_frame: "laser2"

# Turn this off for mapping
broadcast_transform: true

# Noise to add to odometry twist (first 3 are linear, last 3 are angular)
mu_twist: [0., 0., 0., 0., 0., 0.]
mu_pose: [0.0, 0., 0., 0., 0., 0.0]