From 4dca33c35b05cbc18bf88564e133136f4f698713 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Fri, 8 Sep 2023 10:07:26 +0200 Subject: [PATCH] update --- config/nav2_params.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index a58cb08..00a7631 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -387,12 +387,12 @@ controller_server: stateful: True FollowPath: plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" - desired_linear_vel: 0.5 + desired_linear_vel: 0.8 # was 0.5 lookahead_dist: 0.6 min_lookahead_dist: 0.3 max_lookahead_dist: 0.9 lookahead_time: 1.5 - rotate_to_heading_angular_vel: 0.8 + rotate_to_heading_angular_vel: 0.4 # was 0.8 transform_tolerance: 0.1 use_velocity_scaled_lookahead_dist: false min_approach_linear_velocity: 0.05 @@ -405,7 +405,7 @@ controller_server: use_cost_regulated_linear_velocity_scaling: false regulated_linear_scaling_min_radius: 0.9 regulated_linear_scaling_min_speed: 0.25 - use_rotate_to_heading: true + use_rotate_to_heading: false # set to false because can't be set together with allow_reversing allow_reversing: true rotate_to_heading_min_angle: 0.785 max_angular_accel: 1.2