From d34a2c8f5118e62a8bd3b45b8885c17781ba8e5e Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 23 Jan 2024 14:06:30 -0800 Subject: [PATCH] adding readme --- nav2_smac_planner/README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/nav2_smac_planner/README.md b/nav2_smac_planner/README.md index 5eee580bc8..7130253241 100644 --- a/nav2_smac_planner/README.md +++ b/nav2_smac_planner/README.md @@ -115,6 +115,8 @@ planner_server: angle_quantization_bins: 64 # For Hybrid nodes: Number of angle bins for search, must be 1 for 2D node (no angle search) analytic_expansion_ratio: 3.5 # For Hybrid/Lattice nodes: The ratio to attempt analytic expansions during search for final approach. analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting (in meters). This should be scaled with minimum turning radius and be no less than 4-5x the minimum radius + analytic_expansion_max_cost: true # For Hybrid/Lattice nodes: The maximum single cost for any part of an analytic expansion to contain and be valid (except when necessary on approach to goal) + analytic_expansion_max_cost_override: false # For Hybrid/Lattice nodes: Whether or not to override the maximum cost setting if within critical distance to goal (ie probably required) minimum_turning_radius: 0.40 # For Hybrid/Lattice nodes: minimum turning radius in m of path / vehicle reverse_penalty: 2.1 # For Reeds-Shepp model: penalty to apply if motion is reversing, must be => 1 change_penalty: 0.0 # For Hybrid nodes: penalty to apply if motion is changing directions, must be >= 0