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update: nav2 odometry filtered

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This commit is contained in:
Björn Ellensohn 2023-07-26 12:29:09 +02:00
parent e3c8b41951
commit 3b12f4e289
1 changed files with 2 additions and 2 deletions
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4
config/nav2_params.yaml
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@ -44,7 +44,7 @@ bt_navigator:
use_sim_time: True use_sim_time: True
global_frame: map global_frame: map
robot_base_frame: base_link robot_base_frame: base_link
odom_topic: /odom odom_topic: /odometry/filtered
bt_loop_duration: 10 bt_loop_duration: 10
default_server_timeout: 20 default_server_timeout: 20
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
@ -342,7 +342,7 @@ velocity_smoother:
min_velocity: [-0.26, 0.0, -1.0] min_velocity: [-0.26, 0.0, -1.0]
max_accel: [2.5, 0.0, 3.2] max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2] max_decel: [-2.5, 0.0, -3.2]
odom_topic: "odom" odom_topic: "/odometry/filtered"
odom_duration: 0.1 odom_duration: 0.1
deadband_velocity: [0.0, 0.0, 0.0] deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0 velocity_timeout: 1.0