From 05c74aed5c9f976f46c9e21d1e26da2aa457377e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Fri, 8 Sep 2023 11:10:08 +0200
Subject: [PATCH] update

---
 config/nav2_params.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 2ff991b..5c05ee1 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -463,7 +463,7 @@ controller_server:
       short_circuit_trajectory_evaluation: True
       stateful: True
       critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "TwirlingCritic"] # added TwirlingCritic
-      BaseObstacle.scale: 0.02
+      BaseObstacle.scale: 0.08 # was 0.02
       PathAlign.scale: 32.0
       GoalAlign.scale: 24.0
       PathAlign.forward_point_distance: 0.1
@@ -473,7 +473,7 @@ controller_server:
       RotateToGoal.scale: 32.0
       RotateToGoal.slowing_factor: 5.0
       RotateToGoal.lookahead_time: -1.0
-      TwirlingCritic.scale: 0.5
+      TwirlingCritic.scale: 0.2 # was 1.0
 
 local_costmap:
   local_costmap: