templates/lms-nav2-gazebo-planning
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Tune MKMini Reeds-Shepp navigation

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This commit is contained in:
chyoo
2026-08-19 09:53:09 +09:00
parent d23e15c5dc
commit b9da8b0c30
2 changed files with 8 additions and 5 deletions
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src/planning_pkg/config/planning_2d_sim_mkmini.yaml
+4 -4
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@@ -107,16 +107,16 @@ planner_server:
max_iterations: 3000000
max_on_approach_iterations: 5000
max_planning_time: 10.0
# Normal navigation should remain forward-only. Reeds-Shepp creates
# forward/reverse cusps that Regulated Pure Pursuit can oscillate on.
motion_model_for_search: "DUBIN"
# Test car-like paths that can reverse to leave constrained spaces.
motion_model_for_search: "REEDS_SHEPP"
angle_quantization_bins: 144
analytic_expansion_ratio: 3.5
analytic_expansion_max_length: 5.0
# tricycle_drive uses a 0.72 m wheelbase with a 0.5 rad steering limit.
# 0.72 / tan(0.5) is 1.32 m; keep a small planning margin.
minimum_turning_radius: 1.35
change_penalty: 0.0
# Prefer a continuous arc over avoidable forward/reverse oscillation.
change_penalty: 1.0
non_straight_penalty: 1.5
cost_penalty: 5.0
retrospective_penalty: 0.1