hawa_cfg.json

{
    "brief": "This is the configuration file for the project",
    "robot_specs": {
        "axle_distance_metric": 0.25,
        "max_speed_mps": 0.4,
        "max_steer_angle": 0.8,
        "max_acceleration_mps2": 0.8,
        "max_steer_rate_radps": 1.0
    },
    "simulation": {
        "loop_time_ms_INT": 20,
        "cmd_timeout_sec_FLOAT": 0.3,
        "use_noise_BOOL": false,
        "pub_tf_map2odom_BOOL": true
    },
    "motion_controller": {
        "stop_when_in_obstacle_BOOL": true,
        "pure_pursuit": {
            "look_ahead_distance_metric": 0.5
        },
        "LQR": {
            "loop_time_ms_INT": 100,
            "time_step_sec_FLOAT": 0.1,
            "Q_FLOAT": {
                "q1": 1.0,
                "q2": 1.0,
                "q3": 1.0
            },
            "R_FLOAT": {
                "r1": 1.0,
                "r2": 1.0
            },
            "ref_point_proximity_INT": 3,
            "ricatti_max_iter_INT": 500
        }
    },
    "path_planer": {
        "wait_for_stop_before_replan_BOOL": true,
        "timeout_ms_INT": 3000,
        "ReedsShepp": {
            "turning_radius_metric": 0.7,
            "angle_step": 0.3,
            "linear_step": 0.1
        }
    },
    "map_processor": {
        "inflation_size_INT": 4,
        "min_intensity_INT": 80,
        "obstacle_threshold_INT": 50,
        "lidar_range_max_FLOAT": 10.0,
        "include_lidar_BOOL": false,
        "include_depth_BOOL": false
    },
    "ros_topics": {
        "odometry_topic": "/odometry",
        "ackerman_cmd_topic": "/ackermann_cmd",
        "whole_path": "/path",
        "map_from_slam": "/map",
        "map_from_map_processor": "/map_fusion",
        "robot_body_visualization": "/car_body_line_marker",
        "lidar_topic": "/scan",
        "depth_topic": "/depth",
        "goal_topic": "/goal_pose",
        "planner_searching": "/planner_searching",
        "controller_ref_point_vis": "/target_point_marker",
        "controller_curr_path_vis": "/current_segment"
    },
    "frames": {
        "base_frame": "base_link",
        "steer_frame": "steer_link",
        "odom_frame": "odom",
        "map_frame": "map",
        "lidar_frame": "laser",
        "depth_frame": "depth"
    }
}