diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index 6601504..93e8b96 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -167,7 +167,7 @@ controller_server: trans_stopped_velocity: 0.25 short_circuit_trajectory_evaluation: True stateful: True - critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", ""] + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "ObstacleFootprintCritic"] BaseObstacle.scale: 0.02 PathAlign.scale: 32.0 PathAlign.forward_point_distance: 0.1