ellensohn/cps_rmp220_support
1
0
Fork 0
mirror of https://github.com/bjoernellens1/cps_rmp220_support.git synced 2024-11-23 15:45:08 +00:00
Code Issues Packages Projects Releases Wiki Activity

update

Browse Source
This commit is contained in:
Björn Ellensohn 2023-10-03 14:05:19 +02:00
parent c93e3732b8
commit 224f0a93bc
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
config/nav2_params.yaml
View File

@ -140,7 +140,7 @@ controller_server:
FollowPath: FollowPath:
plugin: "dwb_core::DWBLocalPlanner" plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True debug_trajectory_details: True
min_vel_x: 0.0 min_vel_x: -0.1
min_vel_y: 0.0 min_vel_y: 0.0
max_vel_x: 0.26 max_vel_x: 0.26
max_vel_y: 0.0 max_vel_y: 0.0
@ -167,7 +167,7 @@ controller_server:
trans_stopped_velocity: 0.25 trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True short_circuit_trajectory_evaluation: True
stateful: True stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", ""]
BaseObstacle.scale: 0.02 BaseObstacle.scale: 0.02
PathAlign.scale: 32.0 PathAlign.scale: 32.0
PathAlign.forward_point_distance: 0.1 PathAlign.forward_point_distance: 0.1