params.yaml

q0: 10.0
q1: 10.0
q2: 0.0        #try to put this to a high value // is this oreinetation error cost ? 

r0: 0.10
r1: 5.0         #try to reduce this

pose_topic: "/odom"
scan_topic: "/scan"
drive_topic: "/drive"

horizon: 30
dt: 0.01

#occ_grid
occ_size: 10
occ_discrete: 0.1
occ_dilation: 0.15

#paths
# cmaes_lookahead_1: -1.0
# cmaes_lookahead_2: 2.0
# switch_distance_threshold: 3.0

# #traj_planner
# num_traj: 10
# close_weight: 1.5
# MAX_HORIZON: 50

# Lanes
# lane_0: "csv/fooxx.csv"
# lane_1: "csv/fooxx_point25.csv"
# lane_2: "csv/fooxx_point5.csv"
# lane_3: "csv/fooxx_point75.csv"
# lane_4: "csv/fooxx_one.csv"
# lane_5: "csv/fooxx_1point25.csv"
# lane_6: "csv/fooxx_1point5.csv"
# lane_7: "csv/fooxx_1point75.csv"
# lane_8: "csv/fooxx_two.csv"

# desired input
des_vel: 4.5
des_steer: 0

#constraints 
umax: 4.5 #change dt if you change this
umin: 3

follow_gap_thresh: 3
state_lims: 1
fov_divider: 1.5
buffer: 3

speed_discrete: 40
steer_discrete: 30    ##
steer_max: 0.4
traj_discrete: 50

lookahead: 2.5 ## make sure greater than dwa trajectories