ROS：eband_local_planner参数注释

eband_local_planner参数注释

eband_local_planner源码地址：wiki.ros.org/eband_local_planner

Common Parameters

常用参数

~/EBandPlannerROS/xy_goal_tolerance (double, default: 0.1)

• Distance tolerance for reaching the goal pose .
• 达到目标姿势的距离公差。

~/EBandPlannerROS/yaw_goal_tolerance (double, default: 0.05)

• Orientation tolerance for reaching the desired goal pose .
• 达到预期目标姿势的方向公差。

~/EBandPlannerROS/rot_stopped_vel (double, default: 0.01)

• Angular velocity lower bound that determines if the robot should stop to avoid limit-cycles or locks .
• 确定机器人是否应该停止以避免极限循环或锁定的角速度下限。

~/EBandPlannerROS/trans_stopped_vel (double, default: 0.01)

• Linear velocity lower bound that determines if the robot should stop to avoid limit-cycles or locks 
• 线速度下限，确定机器人是否应该停止以避免极限循环或锁定。

Visualization Parameters

可视化参数

~/EBandPlannerROS/marker_lifetime (double, default: 0.5)

• Lifetime of eband visualization markers .
• eband可视化标记的生命周期。

Elastic Band Parameters

松紧带参数

~/EBandPlannerROS/eband_min_relative_overlap (double, default: 0.7)

• Min distance that denotes connectivity between consecutive bubbles 
• 表示连续气泡之间的连通性的最小距离。

~/EBandPlannerROS/eband_tiny_bubble_distance (double, default: 0.01)

• Bubble geometric bound regarding tiny bubble distance. 
• 关于微小气泡距离的气泡几何边界。

~/EBandPlannerROS/eband_tiny_bubble_expansion (double, default: 0.01)

• Bubble geometric bound regarding tiny bubble expansion .
• 关于微小气泡膨胀的气泡几何边界。

~/EBandPlannerROS/eband_internal_force_gain (double, default: 1.0)

• Force gain of forces between consecutive bubbles that tend to stretch the elastic band .
• 连续气泡之间趋于拉伸弹性带的力的力增益。

~/EBandPlannerROS/eband_external_force_gain (double, default: 2.0)

• Force gain of forces that tend to move the bubbles away from obstacles .
• 趋于使气泡远离障碍物的力的增力。

~/EBandPlannerROS/num_iterations_eband_optimization (int, default: 3)

• Number of iterations for eband optimization 
• 束带优化的迭代次数。

~/EBandPlannerROS/eband_equilibrium_approx_max_recursion_depth (int, default: 4)

• Number of iterations for reaching the equilibrium between internal and external forces .
• 达到内外力平衡的迭代次数。

~/EBandPlannerROS/eband_equilibrium_relative_overshoot (double, default: 0.75)

• Maximum relative equlibrium overshoot .
• 最大相对平衡超调。

~/EBandPlannerROS/eband_significant_force_lower_bound (double, default: 0.15)

• Minimum magnitude of force that is considered significant and used in the calculations .
• 计算中使用的最小力的大小，被认为是重要的。

~/EBandPlannerROS/costmap_weight (double, default: 10.0)

• Costmap weight factor used in the calculation of distance to obstacles .
• Costmap权重因子，用于计算到障碍物的距离。

Trajectory Controller Parameters

轨迹控制器参数

~/EBandPlannerROS/max_vel_lin (double, default: 0.75)

• Maximum linear velocity 
• 最大线速度。

~/EBandPlannerROS/max_vel_th (double, default: 1.0)

• Maximum angular velocity 
• 最大角速度。

~/EBandPlannerROS/min_vel_lin (double, default: 0.1)

• Minimum linear velocity 
• 最小的线速度。

~/EBandPlannerROS/min_vel_th (double, default: 0.0)

• Minimum angular velocity 
• 最小的角速度。

~/EBandPlannerROS/min_in_place_vel_th (double, default: 0.0)

• Minimum in-place angular velocity 。
• 最小到位角速度。

~/EBandPlannerROS/in_place_trans_vel (double, default: 0.0)

• Minimum in place linear velocity .
• 最小到位线速度。

~/EBandPlannerROS/k_prop (double, default: 4.0)

• Proportional gain of the PID controller .
• PID控制器的比例增益。

~/EBandPlannerROS/k_damp (double, default: 3.5)

• Damping gain of the PID controller .
• PID控制器的阻尼增益。

~/EBandPlannerROS/Ctrl_Rate (double, default: 10.0)

• Control rate 
• 控制频率。

~/EBandPlannerROS/max_acceleration (double, default: 0.5)

• Maximum allowable acceleration。
• 最大允许加速度。 

~/EBandPlannerROS/virtual_mass (double, default: 0.75)

• Virtual mass.
• 虚拟质量。

~/EBandPlannerROS/max_translational_acceleration (double, default: 0.5)

• Maximum linear acceleration.
• 最大线性加速度。

~/EBandPlannerROS/max_rotational_acceleration (double, default: 1.5)

• Maximum angular acceleration.
•  最大角加速度。

~/EBandPlannerROS/rotation_correction_threshold (double, default: 0.5)

• Rotation correction threshold.
•  旋转校正阈值。

~/EBandPlannerROS/differential_drive (bool, default: True)

• Denotes whether to use the differential drive mode.
• 表示是否使用差动驱动模式。 

~/EBandPlannerROS/bubble_velocity_multiplier (double, default: 2.0)

• Multiplier of bubble radius .
• 气泡半径的倍数。

~/EBandPlannerROS/rotation_threshold_multiplier (double, default: 1.0)

• Multiplier of rotation threshold.
•  旋转阈值乘数。

~/EBandPlannerROS/disallow_hysteresis (bool, default: False)

• Determines whether to try getting closer to the goal, in case of going past the tolerance。
• 确定在超出公差范围时是否尝试接近目标。