package roborts_local_planner

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• optional FrameID opt_frame = 1

• optional Trajectory trajectory_opt = 2

• optional Robot kinematics_opt = 3

• optional GoalTolerance tolerance_opt = 4

• optional Obstacles obstacles_opt = 5

• optional Optimization optimize_info = 6

• optional HomotopyClassPlanner hcp_opt = 7

• repeated FootprintModel robot_type = 8

• optional Recovery recovery_info = 9

Used in: Config

• optional FootprintModel.FootprintType type = 1

• optional double radius = 2

• optional double front_offset = 3

• optional double front_radius = 4

• optional double rear_offset = 5

• optional double rear_radius = 6

• repeated Point2D robot_vertices = 7

Used in: FootprintModel

• POINT = 0

• CIRCULAR = 1

• TWOCIRCLES = 2

• LINE = 3

• POLYGON = 4

Used in: Config

• optional string odom_frame = 1

• optional string map_frame = 2

Used in: Config

• optional float xy_goal_tolerance = 1

• optional float yaw_goal_tolerance = 2

• optional bool free_goal_vel = 3

Used in: Config

• optional bool enable_homotopy_class_planning = 1

• optional bool enable_multithreading = 2

• optional bool simple_exploration = 3

• optional int32 max_number_classes = 4

• optional float selection_obst_cost_scale = 5

• optional float selection_prefer_initial_plan = 6

• optional float selection_viapoint_cost_scale = 7

• optional float selection_cost_hysteresis = 8

• optional bool selection_alternative_time_cost = 9

• optional int32 roadmap_graph_no_samples = 10

• optional int32 roadmap_graph_area_width = 11

• optional float roadmap_graph_area_length_scale = 12

• optional float h_signature_prescaler = 13

• optional float h_signature_threshold = 14

• optional float obstacle_keypoint_offset = 15

• optional float obstacle_heading_threshold = 16

• optional bool viapoints_all_candidates = 17

• optional bool visualize_hc_graph = 18

• repeated string name = 1

• optional string selected_algorithm = 2

• optional double frequency = 3

Used in: Config

• optional float min_obstacle_dist = 1

• optional float inflation_dist = 2

• optional bool include_costmap_obstacles = 3

• optional float costmap_obstacles_behind_robot_dist = 4

• optional float obstacle_poses_affected = 5

• optional bool legacy_obstacle_association = 6

• optional float obstacle_association_cutoff_factor = 7

• optional float obstacle_association_force_inclusion_factor = 8

• optional string costmap_converter_plugin = 9

• optional bool costmap_converter_spin_thread = 10

• optional float costmap_converter_rate = 11

Used in: Config

• optional int32 no_inner_iterations = 1

• optional int32 no_outer_iterations = 2

• optional bool optimization_activate = 3

• optional bool optimization_verbose = 4

• optional float penalty_epsilon = 5

• optional float weight_max_vel_x = 6

• optional float weight_max_vel_y = 7

• optional float weight_max_vel_theta = 8

• optional float weight_acc_lim_x = 9

• optional float weight_acc_lim_y = 10

• optional float weight_acc_lim_thet = 11

• optional float weight_kinematics_nh = 12

• optional float weight_kinematics_forward_drive = 13

• optional float weight_kinematics_turning_radius = 14

• optional float weight_optimaltime = 15

• optional float weight_obstacle = 16

• optional float weight_inflation = 17

• optional float weight_dynamic_obstacle = 18

• optional float weight_viapoint = 19

• optional float weight_adapt_factor = 20

• optional float weight_prefer_rotdir = 21

• optional float weight_acc_lim_theta = 22

Used in: FootprintModel

• optional float x = 1

• optional float y = 2

Used in: Config

• optional bool shrink_horizon_min_duration = 1

• optional bool oscillation_recovery = 2

• optional bool shrink_horizon_backup = 3

• optional double oscillation_v_eps = 4

• optional double oscillation_omega_eps = 5

• optional double oscillation_recovery_min_duration = 6

• optional double oscillation_filter_duration = 7

Used in: Config

• optional float max_vel_x = 1

• optional float max_vel_x_backwards = 2

• optional float max_vel_y = 3

• optional float max_vel_theta = 4

• optional float acc_lim_x = 5

• optional float acc_lim_y = 6

• optional float acc_lim_theta = 7

• optional float min_turning_radius = 8

• optional float wheelbase = 9

• optional bool cmd_angle_instead_rotvel = 10

Used in: Config

• optional bool teb_autosize = 1

• optional float dt_ref = 2

• optional float dt_hysteresis = 3

• optional bool global_plan_overwrite_orientation = 4

• optional bool allow_init_with_backwards_motion = 5

• optional float global_plan_viapoint_sep = 6

• optional bool via_points_ordered = 7

• optional float max_global_plan_lookahead_dist = 8

• optional bool exact_arc_length = 9

• optional float force_reinit_new_goal_dist = 10

• optional int64 feasibility_check_no_poses = 11

• optional bool publish_feedback = 12

• optional int64 min_samples = 13

• optional int64 max_samples = 14