From 26622cb9008cd419ae5b3781bacb674258393779 Mon Sep 17 00:00:00 2001
From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com>
Date: Mon, 10 Feb 2025 12:51:21 +0100
Subject: [PATCH] Update dwa_base_local_planner_params.yaml
---
config/dwa_base_local_planner_params.yaml | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/config/dwa_base_local_planner_params.yaml b/config/dwa_base_local_planner_params.yaml
index 0bc636a..88dab7e 100644
--- a/config/dwa_base_local_planner_params.yaml
+++ b/config/dwa_base_local_planner_params.yaml
@@ -1,4 +1,4 @@
-controller_frequency: 2.0 #20.0 #5.0
+controller_frequency: 3.0 #20.0 #5.0
recovery_behavior_enabled: true #false
clearing_rotation_allowed: true #false
@@ -9,7 +9,7 @@ DWAPlannerROS:
min_vel_x: 0.1 #0.2
max_vel_y: 0.0 # zero for a differential drive robot
min_vel_y: 0.0
- min_in_place_vel_theta: 0.5
+ min_in_place_vel_theta: 0.1 #0.5
escape_vel: -0.1
acc_lim_x: 0.5
acc_lim_y: 0.0 # zero for a differential drive robot
@@ -32,7 +32,7 @@ DWAPlannerROS:
prune_plan: true
# Forward Simulation Parameters
- sim_time: 5.0 #1.0 #5.0 #2.5
+ sim_time: 2.5 #5.0 #1.0 #5.0 #2.5
sim_granularity: 0.025
angular_sim_granularity: 0.025
vx_samples: 8
@@ -44,7 +44,7 @@ DWAPlannerROS:
# # Trajectory Scoring Parameters
path_distance_bias: 64.0 # 32.0 - weighting for how much it should stick to the global path plan
goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal
- occdist_scale: 0.5 # 0.01 - weighting for how much the controller should avoid obstacles
+ occdist_scale: 2.0 #0.5 # 0.01 - weighting for how much the controller should avoid obstacles
forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point
stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj.
scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint