path_type: jerk
# Drone kinematic constraints
max_vel: [10.0, 10.0, 2.0]
max_acc: [4.5, 4.5, 4.5]
max_jerk: [10.0, 10.0, 10.0]
# Intrinsics for the cameras, only used for simulation. Copy-paste from camera_info topic.
front_cam: [166.276, 166.276, 96.5, 135.5]
back_cam: [166.276, 166.276, 96.5, 135.5]
bottom_cam: [143.011, 143.011, 120.5, 160.5]
top_cam: [277.127, 277.127, 160.5, 120.5]
left_cam: [277.127, 277.127, 160.5, 120.5]
right_cam: [277.127, 277.127, 160.5, 120.5]
# Possible safe_dist values are resolution multiplied by an element of the following list:
# [0.0, 1.0, 1.414, 1.732, 2.0, 2.236, 2.449, 2.828, 3.0, 3.162, 3.317, 3.464, 3.606, 3.742, 4.0]
# NOTE: add a small factor to safe_dist to prevent issues due to floating point comparisons.
# Configs for different modes
track:
num_samples: [2, 2, 1]
# branch_type: full
prefer_2d_traj: false
traj_expansion_step: 0.5
safe_dist: 0.601
resolution: 0.3
truncate_dist: 2.1
ideal_distance_xy:
person: 5.5
rider: 8.25
car_large_fov: 10.0
car_small_fov: 10.0
vehicle_large_fov: 15.0
vehicle_small_fov: 15.0
no_avoidance: 10.0
lock: 10.0
ideal_height:
person: -2.0
rider: -3.0
car_large_fov: -4.0
car_small_fov: -4.0
vehicle_large_fov: -6.0
vehicle_small_fov: -6.0
no_avoidance: -8.0
lock: -10.0
distance_xy_max:
person: 15
rider: 15
car_large_fov: 25 # 586
car_small_fov: 40 # 383
vehicle_large_fov: 25 # 586
vehicle_small_fov: 50 # 383
no_avoidance: 150
lock: 200.0
distance_xy_min: # Needs to be > 0
person: 4
rider: 4.5
car_large_fov: 8 # 586
car_small_fov: 10 # 383
vehicle_large_fov: 10.0 # 586
vehicle_small_fov: 12.0 # 383
no_avoidance: 6.0
lock: 2.0
height_max: # Needs to be < 0
person: -10
rider: -10
car_large_fov: -30 # 586
car_small_fov: -40 # 383
vehicle_large_fov: -35 # 586
vehicle_small_fov: -50 # 383
no_avoidance: -150
lock: -200
height_min: # Needs to be < 0
person: -1.8
rider: -2.0
car_large_fov: -4.0 # 586
car_small_fov: -6.0 # 383
vehicle_large_fov: -5.0 # 586
vehicle_small_fov: -8.0 # 383
no_avoidance: -5.0
lock: -0.1
init_min_dist:
person: 3.0
rider: 4.0
car_large_fov: 6.0
car_small_fov: 6.0
vehicle_large_fov: 6.0
vehicle_small_fov: 6.0
no_avoidance: 3.0
lock: 2.0
init_max_dist:
person: 20.0
rider: 20.0
car_large_fov: 40.0
car_small_fov: 60.0
vehicle_large_fov: 40.0
vehicle_small_fov: 80.0
no_avoidance: 300.0
lock: 300.0
slow_mode:
max_vel: [3.0, 3.0, 2.0]
max_acc: [4.5, 4.5, 4.5]
fast_mode:
max_vel: [15.0, 15.0, 2.0]
max_acc: [4.5, 4.5, 4.5]
pointfly:
num_samples: [2, 2, 1]
# branch_type: full
prefer_2d_traj: false
traj_expansion_step: 0.5
safe_dist: 0.801
resolution: 0.4
truncate_dist: 2.1
pf_stop_wait_time: 5.0
desired_vel: 1.0
orbit:
num_samples: [2, 2, 1]
branch_type: full
prefer_2d_traj: true
traj_expansion_step: 0.5
safe_dist: 0.601
resolution: 0.6
truncate_dist: 2.1
slow_mode:
max_vel: [3.0, 3.0, 2.0]
max_acc: [3.0, 3.0, 2.0]