From 0a6dd6f402a50683814592d9bc75ab45ed8b9501 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Mon, 9 Oct 2023 16:23:05 +0200 Subject: [PATCH] update --- config/ekf.yaml | 2 +- config/nav2_params.yaml | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/config/ekf.yaml b/config/ekf.yaml index 7dc8dbc..a14308d 100644 --- a/config/ekf.yaml +++ b/config/ekf.yaml @@ -5,7 +5,7 @@ ekf_filter_node: # computation until it receives at least one message from one of theinputs. It will then run continuously at the # frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified. # frequency: 30.0 - frequency: 30.0 + frequency: 50.0 # ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is # set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index e9cdeb7..49561d8 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -195,8 +195,8 @@ controller_server: movement_time_allowance: 10.0 goal_checker: plugin: "nav2_controller::SimpleGoalChecker" - xy_goal_tolerance: 0.25 - yaw_goal_tolerance: 0.25 + xy_goal_tolerance: 0.35 # was 0.25 + yaw_goal_tolerance: 0.35 # was 0.25 stateful: True FollowPath: plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" @@ -398,7 +398,7 @@ velocity_smoother: use_sim_time: True smoothing_frequency: 20.0 scale_velocities: False - feedback: "OPEN_LOOP" + feedback: "CLOSED_LOOP" # was OPEN_LOOP max_velocity: [0.26, 0.0, 1.0] min_velocity: [-0.26, 0.0, -1.0] max_accel: [2.5, 0.0, 3.2]