[#75] HuberoPlanner.cfg - cost params tuning to avoid trajectories …

…that pass really close to obstacles

cfg/HuberoPlanner.cfg

@@ -117,9 +117,9 @@ group_generator_as.add("fis_as_amplifier_granularity", double_t, 0, "", 1.0, 0.0
 # Trajectory generation group parameters
 group_cost = gen.add_group("Cost", type="tab")
 
-group_cost.add("path_distance_scale", double_t, 0, "The weight for the path distance part of the cost function", 0.6, 0.0)
-group_cost.add("goal_distance_scale", double_t, 0, "The weight for the goal distance part of the cost function", 0.8, 0.0)
-group_cost.add("occdist_scale", double_t, 0, "The weight for the obstacle distance part of the cost function", 0.01, 0.0)
+group_cost.add("path_distance_scale", double_t, 0, "The weight for the path distance part of the cost function", 0.2, 0.0)
+group_cost.add("goal_distance_scale", double_t, 0, "The weight for the goal distance part of the cost function", 0.4, 0.0)
+group_cost.add("occdist_scale", double_t, 0, "The weight for the obstacle distance part of the cost function", 0.2, 0.0)
 group_cost.add("ttc_scale", double_t, 0, "The weight for the time to collision cost function (scores whole trajectory instead of a single cell)", 3.0, 0.0)
 group_cost.add("chc_scale", double_t, 0, "The weight for the cost function that penalizes robot heading changes", 1.0, 0.0)
 group_cost.add("speedy_goal_scale", double_t, 0, "The weight for the cost function that penalizes high speeds near global goal", 12.0, 0.0)