B2: pid: ctrl_rate: 50 #hz # x方向 PID_x_Limmax: 0.2 PID_x_Vmax: 1.8 PID_x_KP: 2.5 PID_x_KI: 0.1 PID_x_KD: 0.0 # y方向 PID_y_Limmax: 0.2 PID_y_Vmax: 0.7 PID_y_KP: 3.5 PID_y_KI: 0.1 PID_y_KD: 0.0 # yaw PID_yaw_Limmax: 0.2 PID_yaw_Vmax: 0.8 PID_yaw_KP: 2.5 PID_yaw_KI: 0.1 PID_yaw_KD: 0.0 # about threshold # x方向 threshold_x: 0.02 # y方向 threshold_y: 0.02 # yaw threshold_yaw: 0.02 ctrl: CurvatureSamplingInterval: 0.2 # 曲率离散点采样间隔 pid 巡迹使用 # Planner 参数设置 Planner/pub_rate: 40.0 # 节点发布频率 Planner/forwardDis: 0.60 # 0.6 # 搜索的最佳追踪点到当前位置的最远距离 Planner/transform_tolerance: 0.3 # 是否到达目标附近的容忍度 accurateThresholdRotate_x: 0.1 accurateThresholdRotate_y: 0.1 accurateThresholdRotate_yaw: 0.15 accurateThresholdAdjust_x: 0.08 accurateThresholdAdjust_y: 0.08 accurateThresholdAdjust_yaw: 0.1 accurateThresholdKeeping_x: 0.05 accurateThresholdKeeping_y: 0.05 accurateThresholdKeeping_yaw: 0.15 B2_W: pid: ctrl_rate: 50 #hz # x方向 PID_x_Limmax: 0.2 PID_x_Vmax: 2.5 PID_x_KP: 2.25 PID_x_KI: 0.1 PID_x_KD: 0.0 # y方向 PID_y_Limmax: 0.2 PID_y_Vmax: 0.5 PID_y_KP: 2.5 PID_y_KI: 0.1 PID_y_KD: 0.0 # yaw PID_yaw_Limmax: 0.2 PID_yaw_Vmax: 1.0 PID_yaw_KP: 2.5 PID_yaw_KI: 0.1 PID_yaw_KD: 0.0 # about threshold # x方向 threshold_x: 0.02 # y方向 threshold_y: 0.02 # yaw threshold_yaw: 0.02 ctrl: CurvatureSamplingInterval: 0.2 # 曲率离散点采样间隔 pid 巡迹使用 # Planner 参数设置 Planner/pub_rate: 40.0 # 节点发布频率 Planner/forwardDis: 1.0 # 0.6 # 搜索的最佳追踪点到当前位置的最远距离 Planner/transform_tolerance: 0.3 # 是否到达目标附近的容忍度 accurateThresholdRotate_x: 0.2 accurateThresholdRotate_y: 0.2 accurateThresholdRotate_yaw: 0.25 accurateThresholdAdjust_x: 0.1 accurateThresholdAdjust_y: 0.1 accurateThresholdAdjust_yaw: 0.1 accurateThresholdKeeping_x: 0.05 accurateThresholdKeeping_y: 0.05 accurateThresholdKeeping_yaw: 0.15 G1: pid: # about pid ctrl_rate: 50 #hz # x方向 PID_x_Limmax: 0.2 PID_x_Vmax: 0.8 PID_x_KP: 1.8 PID_x_KI: 0.0 PID_x_KD: 0.0 # y方向 PID_y_Limmax: 0.2 PID_y_Vmax: 0.8 PID_y_KP: 1.5 PID_y_KI: 0.1 PID_y_KD: 0.0 # yaw PID_yaw_Limmax: 0.2 PID_yaw_Vmax: 0.85 PID_yaw_KP: 2.0 PID_yaw_KI: 0.1 PID_yaw_KD: 0.1 # about threshold # x方向 threshold_x: 0.02 # y方向 threshold_y: 0.02 # yaw threshold_yaw: 0.02 ctrl: CurvatureSamplingInterval: 0.2 # 曲率离散点采样间隔 pid 巡迹使用 # Planner 参数设置 Planner/pub_rate: 40.0 # 节点发布频率 Planner/forwardDis: 0.6 # 0.8 # 搜索的最佳追踪点到当前位置的最远距离 Planner/transform_tolerance: 0.2 # 是否到达目标附近的容忍度 accurateThresholdRotate_x: 0.2 accurateThresholdRotate_y: 0.2 accurateThresholdRotate_yaw: 0.2 accurateThresholdAdjust_x: 0.25 accurateThresholdAdjust_y: 0.25 accurateThresholdAdjust_yaw: 0.25 accurateThresholdKeeping_x: 0.15 accurateThresholdKeeping_y: 0.15 accurateThresholdKeeping_yaw: 0.15 Go2: pid: ctrl_rate: 50 #hz # x方向 PID_x_Limmax: 0.2 PID_x_Vmax: 1.8 PID_x_KP: 2.5 PID_x_KI: 0.1 PID_x_KD: 0.0 # y方向 PID_y_Limmax: 0.2 PID_y_Vmax: 0.7 PID_y_KP: 3.5 PID_y_KI: 0.1 PID_y_KD: 0.0 # yaw PID_yaw_Limmax: 0.2 PID_yaw_Vmax: 1.8 PID_yaw_KP: 8.0 PID_yaw_KI: 0.5 PID_yaw_KD: 0.0 # about threshold # x方向 threshold_x: 0.02 # y方向 threshold_y: 0.02 # yaw threshold_yaw: 0.02 ctrl: CurvatureSamplingInterval: 0.2 # 曲率离散点采样间隔 pid 巡迹使用 # Planner 参数设置 Planner/pub_rate: 40.0 # 节点发布频率 Planner/forwardDis: 1.0 # 0.6 # 搜索的最佳追踪点到当前位置的最远距离 Planner/transform_tolerance: 0.3 # 是否到达目标附近的容忍度 accurateThresholdRotate_x: 0.1 accurateThresholdRotate_y: 0.1 accurateThresholdRotate_yaw: 0.15 accurateThresholdAdjust_x: 0.1 accurateThresholdAdjust_y: 0.1 accurateThresholdAdjust_yaw: 0.15 accurateThresholdKeeping_x: 0.15 accurateThresholdKeeping_y: 0.15 accurateThresholdKeeping_yaw: 0.15 Go2_W: pid: ctrl_rate: 50 #hz # x方向 PID_x_Limmax: 0.2 PID_x_Vmax: 1.8 PID_x_KP: 2.5 PID_x_KI: 0.1 PID_x_KD: 0.0 # y方向 PID_y_Limmax: 0.2 PID_y_Vmax: 0.7 PID_y_KP: 3.5 PID_y_KI: 0.1 PID_y_KD: 0.0 # yaw PID_yaw_Limmax: 0.2 PID_yaw_Vmax: 0.8 PID_yaw_KP: 2.0 PID_yaw_KI: 0.1 PID_yaw_KD: 0.0 # about threshold # x方向 threshold_x: 0.02 # y方向 threshold_y: 0.02 # yaw threshold_yaw: 0.02 ctrl: CurvatureSamplingInterval: 0.2 # 曲率离散点采样间隔 pid 巡迹使用 # Planner 参数设置 Planner/pub_rate: 40.0 # 节点发布频率 Planner/forwardDis: 1.0 # 0.6 # 搜索的最佳追踪点到当前位置的最远距离 Planner/transform_tolerance: 0.3 # 是否到达目标附近的容忍度 accurateThresholdRotate_x: 0.1 accurateThresholdRotate_y: 0.1 accurateThresholdRotate_yaw: 0.15 accurateThresholdAdjust_x: 0.1 accurateThresholdAdjust_y: 0.1 accurateThresholdAdjust_yaw: 0.15 accurateThresholdKeeping_x: 0.15 accurateThresholdKeeping_y: 0.15 accurateThresholdKeeping_yaw: 0.15 H1: pid: ctrl_rate: 50 #hz # x方向 PID_x_Limmax: 0.2 PID_x_Vmax: 1.8 PID_x_KP: 2.5 PID_x_KI: 0.1 PID_x_KD: 1.1 # y方向 PID_y_Limmax: 0.2 PID_y_Vmax: 0.7 PID_y_KP: 3.5 PID_y_KI: 0.1 PID_y_KD: 1.1 # yaw PID_yaw_Limmax: 0.2 PID_yaw_Vmax: 0.8 PID_yaw_KP: 2.0 PID_yaw_KI: 0.1 PID_yaw_KD: 0.1 # about threshold # x方向 threshold_x: 0.02 # y方向 threshold_y: 0.02 # yaw threshold_yaw: 0.02 ctrl: CurvatureSamplingInterval: 0.2 # 曲率离散点采样间隔 pid 巡迹使用 # Planner 参数设置 Planner/pub_rate: 40.0 # 节点发布频率 Planner/forwardDis: 1.0 # 0.6 # 搜索的最佳追踪点到当前位置的最远距离 Planner/transform_tolerance: 0.3 # 是否到达目标附近的容忍度 accurateThresholdRotate_x: 0.1 accurateThresholdRotate_y: 0.1 accurateThresholdRotate_yaw: 0.15 accurateThresholdAdjust_x: 0.15 accurateThresholdAdjust_y: 0.15 accurateThresholdAdjust_yaw: 0.15 accurateThresholdKeeping_x: 0.05 accurateThresholdKeeping_y: 0.05 accurateThresholdKeeping_yaw: 0.15