Route Planner Tuning

Route planner configurations are in the ‘src/route_planner/far_planner/config’ folder. The default configuration file is ‘indoor.yaml’. To switch the configuration file, go to the ‘src/base_autonomy/vehicle_simulator/launch’ folder and find route_planner_config in the ‘system_unity_with_route_planner.launch’, ‘system_real_robot_with_route_planner.launch’, and ‘system_bagfile_with_route_planner.launch’ files, change it from ‘indoor’ to ‘outdoor’.

If the environment contains dynamic obstacles, make sure is_static_env = false and can reduce util/dynamic_obs_dacay_time : 2.0 (s) to 1.0 or 0.5.

If the visibility graph update is slow, try to reduce sensor_range : 15 (m) to 10 and terrain_range : 7.5 (m) to 5.0.

If the route planner tries to guide the vehicle through narrow openings that the vehicle cannot pass, try to adjust robot_dim : 0.5 (m) to 0.7 or 0.8, util/obs_inflate_size : 1 to 2 or 3, and c_detector/resize_ratio : 3.0 to 2.5 or 2.0. If the route planner is reluctant to enter large enough openings, adjust the parameters in the other direction.

If the visibility graph is messed up in cluttered environments, try to adjust graph/connect_votes_size : 10 to 7 or 5, graph/clear_dumper_thred : 4 to 7 or 9, and graph/node_finalize_thred : 6 to 3 or 2.