base_local_planner: local_planner

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00001 # Generic set of parameters to use with base local planners
00002 # To use:
00003 #
00004 #  roslib.load_manifest('base local planner')
00005 #  from local_planner_limits import add_generic_localplanner_params 
00006 #  gen = ParameterGenerator()
00007 #  add_generic_localplanner_params(gen)
00008 #  ...
00009 #
00010 # Using these standard parameters instead of your own allows easier switching of local planners
00011 
00012 PACKAGE='base_local_planner'
00013 import roslib; 
00014 roslib.load_manifest(PACKAGE)
00015 roslib.load_manifest('dynamic_reconfigure')
00016 
00017  # need this only for dataype declarations
00018 from dynamic_reconfigure.parameter_generator import *
00019 
00020 def add_generic_localplanner_params(gen): 
00021   # velocities
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   # acceleration
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 
00040 #  # jerk
00041 #  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)
00042 #  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)
00043 
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)