ellensohn/cps_rmp220_support
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update

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Björn Ellensohn 2023-09-08 11:10:08 +02:00
parent 926d38d8e5
commit 05c74aed5c
1 changed files with 2 additions and 2 deletions
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config/nav2_params.yaml
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@ -463,7 +463,7 @@ controller_server:
short_circuit_trajectory_evaluation: True short_circuit_trajectory_evaluation: True
stateful: True stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "TwirlingCritic"] # added TwirlingCritic 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 PathAlign.scale: 32.0
GoalAlign.scale: 24.0 GoalAlign.scale: 24.0
PathAlign.forward_point_distance: 0.1 PathAlign.forward_point_distance: 0.1
@ -473,7 +473,7 @@ controller_server:
RotateToGoal.scale: 32.0 RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0 RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0 RotateToGoal.lookahead_time: -1.0
TwirlingCritic.scale: 0.5 TwirlingCritic.scale: 0.2 # was 1.0
local_costmap: local_costmap:
local_costmap: local_costmap: