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