32 lines
1.4 KiB
XML
Executable File
32 lines
1.4 KiB
XML
Executable File
<launch>
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<node pkg="tangent_planner" type="tangent_planner" name="tangent_planner" clear_params="true" output="screen" />
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<param name="c" value="0.9" />
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<param name="b" value="500" />
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<param name="kp" value="1.1" />
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<param name="kp_i" value="1.5" />
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<param name="xy_goal_tolerance" value="0.05" />
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<param name="yaw_goal_tolerance" value="0.05" />
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<param name="max_trans_vel" value="2" />
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<param name="max_rot_vel" value="0.3" />
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<param name="robot_front" value="0.21"/>
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<param name="robot_back" value="0.2" />
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<param name="robot_width_min" value="0.8" />
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<param name="robot_width_max" value="0.4" />
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<param name="valid_dis_to_goal" value="0.00001" />
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<param name="range_sensor_scale" value="0.1" />
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<param name="factor_scale_" value="2.0" />
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<param name="goal_path" value="/root/path/path.txt" />
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<param name="error_log" value="/root/logs/error_log.txt" />
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<param name="goal_log" value="/root/logs/goal_log.txt" />
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<param name="odometry_log" value="/root/logs/odometry_log.txt" />
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<param name="state_log" value="/root/logs/state_log.txt" />
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<param name="center_log" value="/root/logs/center_log.txt" />
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<param name="terminal_log" value="/root/logs/terminal_log.txt" />
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<param name="tof_log" value="/root/logs/tof_log.txt" />
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<param name="twist_log" value="/root/logs/twist_log.txt" />
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<param name="param_log" value="/root/logs/param_log.txt" />
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</launch> |