完善Detour状态估计与轨迹跟踪验证
This commit is contained in:
@@ -0,0 +1,534 @@
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{
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"layout": {
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"chassis": {
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{
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}
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},
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{
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},
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{
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"name": "autoSlow",
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}
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},
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{
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"type": "lidar2d",
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"options": {
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"isCircle": true,
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"ignoreDist": 10.0,
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"maxDist": 200000.0,
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"useFilter": "",
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"name": "rightlidar",
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}
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},
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{
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"type": "lidar2d",
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"id": 1983955111,
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"name": "leftlidar",
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}
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},
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{
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"options": {
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"RotationMatrix": [
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}
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},
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{
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||||
"type": "plannar3dlidarzrange",
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"options": {
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"samples": 1024,
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}
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},
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{
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"type": "lidarssc",
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"options": {
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},
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{
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"type": "lidarssc",
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"options": {
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"id": 771141297,
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}
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]
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},
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
"SpeedAccPerSecond": 0.1,
|
||||
"SpeedDeAccPerSecond": 1.0,
|
||||
"NotContinuousAngle": 3.0,
|
||||
"PowerSteeringLookAhead": 100.0,
|
||||
"SpeedLookAhead": 1500.0,
|
||||
"SpeedLookAheadCurveDiff": 1000.0,
|
||||
"SpeedLookBackCurveDiff": 200.0,
|
||||
"SpeedLimitCurveDiffMin": 0.2,
|
||||
"SpeedLimitCurveMin": 0.2,
|
||||
"MaxRotateSpeedCurveLimit": 30.0,
|
||||
"MaxRotateAccCurveLimit": 30.0,
|
||||
"BaisAlarmValue": 1500.0,
|
||||
"DthAlarmValue": 150.0,
|
||||
"UseAutoAvoidance": false,
|
||||
"ObstacleStopDistance": 1000.0,
|
||||
"ObstacleSlowDistance": 2500.0,
|
||||
"CoefficientOfExpansion": 1.0,
|
||||
"TargetSpeed": 0.5,
|
||||
"EmptyCartLength": 1550.0,
|
||||
"EmptyCartWidth": 1100.0,
|
||||
"RotateStopFac": 1.3,
|
||||
"RotateSlowFac": 1.8,
|
||||
"SlowPow": 1.2,
|
||||
"ShieldAutoObstacle": false,
|
||||
"LidarName": "frontlidar",
|
||||
"ObstacleRecoveryTime": 500,
|
||||
"UseCameraAvoidance": false,
|
||||
"UseManualContorolAvoidance": true,
|
||||
"ManualAutoAvoidcaneSlowDistance": 500.0,
|
||||
"ManualAutoAvoidcaneStopDistance": 300.0,
|
||||
"ShieldAutoAvoidance": false,
|
||||
"UpCamPoseX": 0.0,
|
||||
"UpCamPoseY": 0.0,
|
||||
"UpCamPoseTh": 0.0,
|
||||
"DownCamPoseX": 0.0,
|
||||
"DownCamPoseY": 0.0,
|
||||
"DownCamPoseTh": 0.0,
|
||||
"OutMapEnable": true,
|
||||
"GroundLossThreshold": 5.0,
|
||||
"LaserLossThreshold": 15.0,
|
||||
"RiskSlowdownThreshold": 15.0,
|
||||
"UseSimpleDetector": false,
|
||||
"LoseConnectionTime": 5000,
|
||||
"GroundCameraDisconnectAlarmTime": 200,
|
||||
"FrontLidarName": "null",
|
||||
"RearLidarName": "null",
|
||||
"UseSkidDetector": true,
|
||||
"SkidTimeThreshold": 3000,
|
||||
"SkidFacThreshold": 3.0,
|
||||
"MissionWarningTime": 3000,
|
||||
"UseGyrosDetector": false,
|
||||
"GyrosErrorTime": 3000,
|
||||
"GyrosErrorFac": 10,
|
||||
"ObstacleStopDec": 0.1
|
||||
},
|
||||
"script": "MultiWheelC.dll",
|
||||
"guru": {
|
||||
"MaxLogFiles": 20,
|
||||
"interpreter": "javascript",
|
||||
"throwSAIError": true
|
||||
},
|
||||
"locationTimeout": 100,
|
||||
"IOCheckIntegrity": true,
|
||||
"detourHost": "127.0.0.1",
|
||||
"detourPort": 4321
|
||||
}
|
||||
Reference in New Issue
Block a user