ellensohn/cps_rmp220_support
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This commit is contained in:
Björn Ellensohn 2023-09-04 10:08:05 +02:00
parent a74d814b4b
commit 276a95ec06
1 changed files with 4 additions and 4 deletions
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8
config/nav2_params.yaml
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@ -141,14 +141,14 @@ controller_server:
# plugin: "dwb_core::DWBLocalPlanner"
# trying roation_shim_controller
#plugin: "nav2_rotation_shim_controller::RotationShimController"
plugin: "dwb_core::DWBLocalPlanner"
plugin: "nav2_rotation_shim_controller::RotationShimController"
#plugin: "dwb_core::DWBLocalPlanner"
#primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
#primary_controller: "dwb_core::DWBLocalPlanner"
primary_controller: "dwb_core::DWBLocalPlanner"
angular_dist_threshold: 0.785
forward_sampling_distance: 0.5
rotate_to_heading_angular_vel: 1.8
max_angular_accel: 3.2
max_angular_accel: 0.5
simulate_ahead_time: 1.0
# primary controller params (dwb)