simulation_kinematic_HBZ_params.launch

<launch>
	<group ns="path_follower">
		<param name="min_velocity" value="0.5" />
		<param name="max_velocity" value="2.5" />
		<param name="waypoint_tolerance" value="0.8" />
		<param name="goal_tolerance" value="0.1" />

		<group ns="collision_avoider">
			<group ns="collision_box">
				<param name="width" value="0.4" />
				<param name="crit_length" value="0.6" />
				<param name="min_length" value="1.0" />
				<param name="max_length" value="1.5" />
				<param name="velocity_factor" value="1.0" />
				<param name="velocity_saturation" value="1.0" />
			</group>
		</group>

		<group ns="supervisor">
			<param name="use_waypoint_timeout" value="false" />

			<param name="use_distance_to_path" value="false" />
			<group ns="distance_to_path">
				<param name="max_dist" value="10.0" />
			</group>

			<param name="use_path_lookout" value="false" />
			<group ns="path_lookout">
				<param name="obstacle_scale_distance" value="1.0" />
				<param name="obstacle_scale_lifetime" value="5.0" />
				<param name="path_width" value="0.5" />
			</group>
		</group>
	</group>

	<group ns="path_follower">
		<group ns="controller">
			<!-- parameters, that are dependent of the controller or the robot model -->
			<group ns="kinematic_hbz">
				<param name="k1" value="1.0" />
				<param name="k2" value="1.0" />

				<param name="lambda" value="1.0" />
				<param name="theta_a" value="0.78539816339" />

				<param name="x_ICR" value="0.0"/>
				<param name="y_ICR_l" value="0.2335" />
				<param name="y_ICR_r" value="-0.2335" />
				<param name="alpha_l" value="1.0" />
				<param name="alpha_r" value="1.0" />

				<param name="max_angular_velocity" value="0.5" />
				<param name="epsilon" value="0.5" />
				<param name="b" value="0.2" />

				<param name="look_ahead_dist" value="1.5" />
				<param name="k_o" value="0.0" />
				<param name="k_g" value="0.05" />
				<param name="k_w" value="0.0" />
				<param name="k_curv" value="0.0" />
				<param name="obst_threshold" value="3.0" />
			</group>
		</group>
	</group>
</launch>