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。
