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linting for new lint bots catching issues not previously reported (ro…
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…s-navigation#4044)

* linting for new lint bots

* moar

* moar2

* try without dashes

* more

* more
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SteveMacenski authored Jan 10, 2024
1 parent 11fac29 commit 64ac6c7
Showing 1 changed file with 27 additions and 5 deletions.
32 changes: 27 additions & 5 deletions nav2_bringup/params/nav2_params.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -277,12 +277,34 @@ planner_server:
ros__parameters:
expected_planner_frequency: 20.0
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true

GridBased:
plugin: "nav2_smac_planner/SmacPlannerLattice"
allow_unknown: true # Allow traveling in unknown space
tolerance: 0.25 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
max_iterations: 1000000 # Maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution
max_planning_time: 5.0 # Max time in s for planner to plan, smooth
analytic_expansion_ratio: 3.5 # 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
reverse_penalty: 2.0 # Penalty to apply if motion is reversing, must be => 1
change_penalty: 0.05 # Penalty to apply if motion is changing directions (L to R), must be >= 0
non_straight_penalty: 1.05 # Penalty to apply if motion is non-straight, must be => 1
cost_penalty: 2.0 # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
rotation_penalty: 5.0 # Penalty to apply to in-place rotations, if minimum control set contains them
retrospective_penalty: 0.015
lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters.
cache_obstacle_heuristic: false # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
allow_reverse_expansion: false # If true, allows the robot to use the primitives to expand in the mirrored opposite direction of the current robot's orientation (to reverse).
debug_visualizations: true
smooth_path: True # If true, does a simple and quick smoothing post-processing to the path
smoother:
max_iterations: 1000
w_smooth: 0.3
w_data: 0.2
tolerance: 1.0e-10
do_refinement: true
refinement_num: 2
smoother_server:
ros__parameters:
smoother_plugins: ["simple_smoother"]
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