1. 2025-10某项目

far_planner/config/default.yaml参数设置

  1. main_run_freq设为5
  2. robot_dim设为0.4
  3. vehicle_height设为0.2
  4. is_viewpoint_extend设为false
  5. is_static_env设为false
  6. MapHandler/map_grid_max_length设为2000
  7. Util/terrain_free_Z设为0.1
  8. Util/dynamic_obs_dacay_time设为5.0
  9. GPlanner/goal_adjust_radius设为1.0