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last version #334

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49ce4d4
for next test
R-Baptiste May 13, 2026
5226178
field testing friday
R-Baptiste May 21, 2026
10ae600
without turning around islands but still using geofence to know where…
R-Baptiste May 22, 2026
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39 changes: 16 additions & 23 deletions behaviours/evolo/evolo_move_path/config/evolo_params.yaml
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Original file line number Diff line number Diff line change
@@ -1,37 +1,30 @@
/**/evolo_move_path_action_server:
ros__parameters:
frame_id: "evolo/odom"
timeout: 1200.0
timeout: 1200.0

# Speed and limits
# Speed
v_min: 8.0
v_max: 14.0
omega_max: 16.0


# Pure Pursuit
ld_base: 5.0 # Change here
ld_gain: 0.5
ff_gain: 0.1
ld_base: 5.0
ld_gain: 0.2

# Dubins
min_turning_radius: 30.0 # Change here
# Dubins planner
min_turning_radius: 30.0
dubins_step: 0.5
dubins_mode: "vwp" # "vwp" or "smooth"

# Buffer
hard_buffer: 20.0 # Change here
soft_buffer: 30.0 # Change here

# Speed Map
speed_map_slow: 8.0
speed_map_medium: 11.0
speed_map_high: 14.0


# Graph
graph_type: "voronoi" # 'visibility' ou 'voronoi'

# Cross-track error
cte_kp: 3.0
cte_ki: 0.05
cte_integral_max: 10.0
heading_kp: 8.0

hard_buffer: 10.0
soft_buffer: 30.0
geofence_timeout: 5.0

# Lateral_normal
kp_lateral: 0.3
kp_heading: 0.8
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