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mainpage.dox
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/**
\mainpage
The lattice_planner package provides a move_base global planner plugin for a time-bounded A* lattice planner. The planner is designed to plan time dependent, dynamically feasible navigation paths for robots with differential drive constraints. It uses a dynamic cost map which is based on the ROS costmap representation from the costmap_2d package.
\b ROS \b Parameters:
prefix for all ROS params: move_base/TBLattice/
cost factors:
- lethal_cost --> cost associated with forbidden areas (e.g. obstacles)
- time_cost_factor --> cost factor for path execution time
- step_cost_factor --> cost factor for path length
- rotation_cost_factor --> cost factor for the accumulated turns along a planned path
- environment_cost_factor --> cost factor for constraints defined in the dynamic environment, according to the dynamic cost map
- dynamic_layers_plugin --> fully qualified plugin type for dynamic layers to be used (must adhere to lattice_planner::DynamicLayers interface. See pluginlib doc on ROS wiki for help)
planner preferences:
- allow_unknown --> whether the planner is allowed to expand into unknown map regions
- xy_goal_tolerance --> the Euclidean goal tolerance distance in meters
- yaw_goal_tolerance --> the rotational goal tolerance in rad
- time_resolution --> time resolution of the discretized configuration space in seconds
- collision_check_time_resolution --> time increment to slice trajectories for collision checking in seconds
- time_steps_lookahead --> maximum number of time steps for planning
- planning_timeout --> timeout for the planning after which the best solution found so far is returned
- passive_navigation --> flag for planning dynamically for the max number of time steps, not only until the goal is found
- publish_expanded --> flag for publishing the expanded search tree for visualization
flags for simplifying the path search - violate optimality but accelerate the search procedure:
- easy_deceleration --> flag for simplified planning of deceleration at the goal
- easy_turn_at_start --> flag for simplified planning of turn in place at the start
- easy_turn_at_goal --> flag for simplified planning of turn in place at the goal
motion constraints of the robot:
- min_vel_x --> minimum forward velocity of the robot in meters per second (can be negative)
- max_vel_x --> maximum forward velocity of the robot in meters per second
- acceleration_x --> forward acceleration in meters per second^2
- min_vel_phi --> minimum angular velocity of the robot in radians per second (can be negative)
- max_vel_phi --> maximum angular velocity of the robot in radians per second
- acceleration_phi --> angular acceleration in radians per second^2
*/