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00012 PACKAGE='base_local_planner'
00013 import roslib;
00014 roslib.load_manifest(PACKAGE)
00015 roslib.load_manifest('dynamic_reconfigure')
00016
00017
00018 from dynamic_reconfigure.parameter_generator import *
00019
00020 def add_generic_localplanner_params(gen):
00021
00022 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)
00023 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)
00024
00025 gen.add("max_vel_x", double_t, 0, "The maximum x velocity for the robot in m/s", 0.55)
00026 gen.add("min_vel_x", double_t, 0, "The minimum x velocity for the robot in m/s", 0.0)
00027
00028 gen.add("max_vel_y", double_t, 0, "The maximum y velocity for the robot in m/s", 0.1)
00029 gen.add("min_vel_y", double_t, 0, "The minimum y velocity for the robot in m/s", -0.1)
00030
00031 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)
00032 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)
00033
00034
00035 gen.add("acc_lim_x", double_t, 0, "The acceleration limit of the robot in the x direction", 2.5, 0, 20.0)
00036 gen.add("acc_lim_y", double_t, 0, "The acceleration limit of the robot in the y direction", 2.5, 0, 20.0)
00037 gen.add("acc_lim_theta", double_t, 0, "The acceleration limit of the robot in the theta direction", 3.2, 0, 20.0)
00038 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)
00039
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00044 gen.add("prune_plan", bool_t,0, "Start following closest point of global plan, not first point (if different).", False)
00045
00046 gen.add("xy_goal_tolerance", double_t, 0, "Within what maximum distance we consider the robot to be in goal", 0.1)
00047 gen.add("yaw_goal_tolerance", double_t, 0, "Within what maximum angle difference we consider the robot to face goal direction", 0.1)
00048
00049 gen.add("trans_stopped_vel", double_t, 0, "Below what maximum velocity we consider the robot to be stopped in translation", 0.1)
00050 gen.add("rot_stopped_vel", double_t, 0, "Below what maximum rotation velocity we consider the robot to be stopped in rotation", 0.1)