__init__.py
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1 # Generic set of parameters to use with base local planners
2 # To use:
3 #
4 # from local_planner_limits import add_generic_localplanner_params
5 # gen = ParameterGenerator()
6 # add_generic_localplanner_params(gen)
7 # ...
8 #
9 # Using these standard parameters instead of your own allows easier switching of local planners
10 
11 # need this only for dataype declarations
12 from dynamic_reconfigure.parameter_generator_catkin import double_t, bool_t
13 
14 
15 def add_generic_localplanner_params(gen):
16  # velocities
17  gen.add("max_trans_vel", double_t, 0, "The absolute value of the maximum translational velocity for the robot in m/s", 0.55, 0)
18  gen.add("min_trans_vel", double_t, 0, "The absolute value of the minimum translational velocity for the robot in m/s", 0.1, 0)
19 
20  gen.add("max_vel_x", double_t, 0, "The maximum x velocity for the robot in m/s", 0.55)
21  gen.add("min_vel_x", double_t, 0, "The minimum x velocity for the robot in m/s", 0.0)
22 
23  gen.add("max_vel_y", double_t, 0, "The maximum y velocity for the robot in m/s", 0.1)
24  gen.add("min_vel_y", double_t, 0, "The minimum y velocity for the robot in m/s", -0.1)
25 
26  gen.add("max_rot_vel", double_t, 0, "The absolute value of the maximum rotational velocity for the robot in rad/s", 1.0, 0)
27  gen.add("min_rot_vel", double_t, 0, "The absolute value of the minimum rotational velocity for the robot in rad/s", 0.4, 0)
28 
29  # acceleration
30  gen.add("acc_lim_x", double_t, 0, "The acceleration limit of the robot in the x direction", 2.5, 0, 20.0)
31  gen.add("acc_lim_y", double_t, 0, "The acceleration limit of the robot in the y direction", 2.5, 0, 20.0)
32  gen.add("acc_lim_theta", double_t, 0, "The acceleration limit of the robot in the theta direction", 3.2, 0, 20.0)
33  gen.add("acc_limit_trans", double_t, 0, "The absolute value of the maximum translational acceleration for the robot in m/s^2", 0.1, 0)
34 
35  # # jerk
36  # gen.add("jerk_lim_trans", double_t, 0, "The absolute value of the maximum translational jerk for the robot in m/s^3", 0.1, 0)
37  # gen.add("jerk_lim_rot", double_t, 0, "The absolute value of the maximum rotational jerk for the robot in m/s^3", 0.1, 0)
38 
39  gen.add("prune_plan", bool_t, 0, "Start following closest point of global plan, not first point (if different).", False)
40 
41  gen.add("xy_goal_tolerance", double_t, 0, "Within what maximum distance we consider the robot to be in goal", 0.1)
42  gen.add("yaw_goal_tolerance", double_t, 0, "Within what maximum angle difference we consider the robot to face goal direction", 0.1)
43 
44  gen.add("trans_stopped_vel", double_t, 0, "Below what maximum velocity we consider the robot to be stopped in translation", 0.1)
45  gen.add("rot_stopped_vel", double_t, 0, "Below what maximum rotation velocity we consider the robot to be stopped in rotation", 0.1)
local_planner_limits.add_generic_localplanner_params
def add_generic_localplanner_params(gen)
Definition: __init__.py:15

base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:49