From 50fbcaed192d5e0eccbbadb28312e3da8b1bec1f Mon Sep 17 00:00:00 2001 From: Naotaka Hatao Date: Wed, 23 Aug 2023 14:33:11 +0900 Subject: [PATCH] Add cfg --- planner_cspace/cfg/Planner3D.cfg | 50 ++++++++++++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100755 planner_cspace/cfg/Planner3D.cfg diff --git a/planner_cspace/cfg/Planner3D.cfg b/planner_cspace/cfg/Planner3D.cfg new file mode 100755 index 00000000..3e5b08c4 --- /dev/null +++ b/planner_cspace/cfg/Planner3D.cfg @@ -0,0 +1,50 @@ +#!/usr/bin/env python +PACKAGE = "planner_cspace" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("freq", double_t, 0, "", 4.0, 0.0, 100.0) +gen.add("freq_min", double_t, 0, "", 2.0, 0.0, 100.0) +gen.add("search_timeout_abort", double_t, 0, "", 30.0, 0.0, 100.0) +gen.add("search_range", double_t, 0, "", 0.4, 0.0, 100.0) +gen.add("antialias_start", bool_t, 0, "", False) +gen.add("costmap_watchdog", double_t, 0, "", 0.0, 0.0, 100.0) +gen.add("max_vel", double_t, 0, "", 0.3, 0.0, 100.0) +gen.add("max_ang_vel", double_t, 0, "", 0.6, 0.0, 100.0) +gen.add("min_curve_radius", double_t, 0, "", 0.1, 0.0, 100.0) +gen.add("weight_decel", double_t, 0, "", 50.0, 0.0, 1000.0) +gen.add("weight_backward", double_t, 0, "", 0.9, 0.0, 1000.0) +gen.add("weight_ang_vel", double_t, 0, "", 1.0, 0.0, 1000.0) +gen.add("weight_costmap", double_t, 0, "", 50.0, 0.0, 1000.0) +gen.add("weight_costmap_turn", double_t, 0, "", 0.0, 0.0, 1000.0) +gen.add("weight_remembered", double_t, 0, "", 1000.0, 0.0, 1000.0) +gen.add("cost_in_place_turn", double_t, 0, "", 30.0, 0.0, 1000.0) +gen.add("hysteresis_max_dist", double_t, 0, "", 0.1, 0.0, 10.0) +gen.add("hysteresis_expand", double_t, 0, "", 0.1, 0.0, 10.0) +gen.add("weight_hysteresis", double_t, 0, "", 5.0, 0.0, 1000.0) +gen.add("goal_tolerance_lin", double_t, 0, "", 0.05, 0.0, 10.0) +gen.add("goal_tolerance_ang", double_t, 0, "", 0.1, 0.0, 3.14159265359) +gen.add("goal_tolerance_ang_finish", double_t, 0, "", 0.05, 0.0, 3.14159265359) +gen.add("overwrite_cost", bool_t, 0, "", False) +gen.add("hist_ignore_range", double_t, 0, "", 0.6, 0.0, 100.0) +gen.add("hist_ignore_range_max", double_t, 0, "", 1.25, 0.0, 100.0) +gen.add("remember_updates", bool_t, 0, "", False) +gen.add("remember_hit_prob", double_t, 0, "", 0.6, 0.0, 1.0) +gen.add("remember_miss_prob", double_t, 0, "", 0.3, 0.0, 1.0) +gen.add("local_range", double_t, 0, "", 2.5, 0.0, 100.0) +gen.add("longcut_range", double_t, 0, "", 0.0, 0.0, 100.0) +gen.add("esc_range", double_t, 0, "", 0.25, 0.0, 100.0) +gen.add("tolerance_range", double_t, 0, "", 0.25, 0.0, 1.0) +gen.add("tolerance_angle", double_t, 0, "", 0.0, 0.0, 3.14159265359) +gen.add("sw_wait", double_t, 0, "", 2.0, 0.0, 100.0) +gen.add("find_best", bool_t, 0, "", True) +gen.add("force_goal_orientation", bool_t, 0, "", True) +gen.add("temporary_escape", bool_t, 0, "", True) +gen.add("fast_map_update", bool_t, 0, "", False) +gen.add("max_retry_num", int_t, 0, "", -1, -1, 100) +gen.add("keep_a_part_of_previous_path", bool_t, 0, "", False) +gen.add("dist_stop_to_previous_path", double_t, 0, "", 0.1, 0.0, 1.0) + +exit(gen.generate(PACKAGE, "planner_cspace", "Planner3D"))