ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-09-08 10:07:26 +02:00
parent 18d91d49b0
commit 4dca33c35b
1 changed files with 3 additions and 3 deletions
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6
config/nav2_params.yaml
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@ -387,12 +387,12 @@ controller_server:
stateful: True stateful: True
FollowPath: FollowPath:
plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
desired_linear_vel: 0.5 desired_linear_vel: 0.8 # was 0.5
lookahead_dist: 0.6 lookahead_dist: 0.6
min_lookahead_dist: 0.3 min_lookahead_dist: 0.3
max_lookahead_dist: 0.9 max_lookahead_dist: 0.9
lookahead_time: 1.5 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 transform_tolerance: 0.1
use_velocity_scaled_lookahead_dist: false use_velocity_scaled_lookahead_dist: false
min_approach_linear_velocity: 0.05 min_approach_linear_velocity: 0.05
@ -405,7 +405,7 @@ controller_server:
use_cost_regulated_linear_velocity_scaling: false use_cost_regulated_linear_velocity_scaling: false
regulated_linear_scaling_min_radius: 0.9 regulated_linear_scaling_min_radius: 0.9
regulated_linear_scaling_min_speed: 0.25 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 allow_reversing: true
rotate_to_heading_min_angle: 0.785 rotate_to_heading_min_angle: 0.785
max_angular_accel: 1.2 max_angular_accel: 1.2