planner.yaml

# PARAMS FOR GRAPH SEARCH PLANNER

# timeout for getting a successful plan
planning_timeout: .100

# update frequency
planner_update_frequency : 60.0

# The flags use_xxx will adapt the planning in different control space
# taken from motion primitive library README

# Vel             | Acc             | Jrk             | Snp
# use_pos = true  | use_pos = true  | use_pos = true  | use_pos = true
# use_vel = false | use_vel = true  | use_vel = true  | use_vel = true
# use_acc = false | use_acc = false | use_acc = true  | use_acc = true
# use_jrk = false | use_jrk = false | use_jrk = false | use_jrk = true

use_pos: true
use_vel: true
use_acc: true
use_jrk: false

# min/max time discretization for each primitive
min_dt: 0.10
max_dt: 0.25

# max number of time discretization for a plan
ndt: 1000

# epsilon
eps: 10.0

# control discretization
num: 1

# maximum number of allowed expansion; -1 means no limit
max_num: 1500

# resolution to generate map at
map_res: .25

# samples per sec for generating waypoints
samples_per_sec: 50.0