Navigation config

controller_frequency: 5.0
recovery_behaviour_enabled: true
conservative_reset_dist: 0.2 #The distance (in meters) that the robot needs to move before recovery behaviors are reset.

  allow_unknown: true # Specifies whether or not to allow navfn to create plans that traverse unknown space.
  default_tolerance: 0.1 # A tolerance on the goal point for the planner.

  # Robot Configuration Parameters
  acc_lim_x: 0.07
  acc_lim_theta: 0.15

  max_vel_x: 0.12
  min_vel_x: 0.09

  max_vel_theta: 0.3
  min_vel_theta: -0.3
  min_in_place_vel_theta: 0.15

  holonomic_robot: false #obot that can move in any direction 
  escape_vel: -0.09  #The velocity to use when escaping from a collision (in m/s).

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.1
  xy_goal_tolerance: 0.2
  latch_xy_goal_tolerance: false #whether or not to continue to use the xy_goal_tolerance value after initially reaching the goal

  # Forward Simulation Parameters
  sim_time: 2 #The amount of time to simulate trajectories (in seconds).
  sim_granularity: 0.02 #The step size for the simulation of trajectories (in m).
  angular_sim_granularity: 0.02 #The step size for the simulation of rotational trajectories (in rad).
  vx_samples: 6 #The number of linear velocity samples to generate for a trajectory.
  vtheta_samples: 20 
  controller_frequency: 20.0 #The frequency at which the planner generates a new trajectory (in Hz).

  # Trajectory scoring parameters
  meter_scoring: true # Whether the gdist_scale and pdist_scale parameters should assume that goal_distance and path_distance are expressed in units of meters or cells. Cells are assumed by default (false).
  occdist_scale:  0.01 #The weighting for how much the controller should attempt to avoid obstacles. default 0.01
  pdist_scale: 0.6  #     The weighting for how much the controller should stay close to the path it was given . default 0.6
  gdist_scale: 0.8 #     The weighting for how much the controller should attempt to reach its local goal, also controls speed  default 0.8

  heading_lookahead: 0.325  #How far to look ahead in meters when scoring different in-place-rotation trajectories
  heading_scoring: false  #Whether to score based on the robot's heading to the path or its distance from the path. default false
  heading_scoring_timestep: 0.8   #How far to look ahead in time in seconds along the simulated trajectory when using heading scoring (double, default: 0.8)
  dwa: true #Whether to use the Dynamic Window Approach (DWA)_ or whether to use Trajectory Rollout
  simple_attractor: false #true, the planner will use a simple attractor for the goal which means it will calculate a straight-line path to the goal point. When set to false, the planner will use more complex algorithms to generate the path to the goal.
  publish_cost_grid_pc: true  #true, the cost grid will be published as a point cloud topic that can be visualized using tools such as RViz. The cost grid represents the occupancy of space and obstacles in the environment, which is used by the planner to plan the path of the robot.

  # Oscillation Prevention Parameters
  oscillation_reset_dist: 0.25 #How far the robot must travel in meters before oscillation flags are reset (double, default: 0.05)
  escape_reset_dist: 0.1
  escape_reset_theta: 0.1

  # Robot configuration parameters  
  acc_lim_x: 0.07
  acc_lim_y: 0.07
  acc_lim_th: 0.09 

  max_vel_x: 0.12
  min_vel_x:  0.01
  max_vel_y: 0.12
  min_vel_y: 0.01

  max_vel_trans: 0.08
  min_vel_trans: 0.01
  max_vel_theta: 0.4 
  min_vel_theta: 0.1

  # Goal Tolerance Parameters
  yaw_goal_tolerance: 0.1
  xy_goal_tolerance: 0.1
  latch_xy_goal_tolerance: false

i saw that code but it made me confused in the launch file it uses the DWA planner but in this config file it uses puts Trajectoryplanner and DWA it also sets the trajectoryplanner to use rolling window approach is that right ?

Hello @80601 ,

In the config file you can add the configuration for multiple different planners, however, in the end, you will use the local planner defined in the base_local_planner parameter. As for the rolling window approach, yes, it is used for local planners.

but what is the point of using Trajectoryplanner with a Rolling window approach is not that same as using DWA ?

Hello @80601 ,

No, they are different planners and, although they are quite similar, there are some differences between them. You can check this post out to see some of them: dwa_planner vs. base_local_planner - ROS Answers: Open Source Q&A Forum

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