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update
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@ -44,7 +44,7 @@ bt_navigator:
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use_sim_time: False
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global_frame: map
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robot_base_frame: base_link
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odom_topic: /odometry/filtered
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odom_topic: /odometry
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bt_loop_duration: 10
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default_server_timeout: 20
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# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
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@ -627,7 +627,7 @@ velocity_smoother:
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min_velocity: [-0.26, 0.0, -1.0]
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max_accel: [2.5, 0.0, 3.2]
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max_decel: [-2.5, 0.0, -3.2]
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odom_topic: "odometry/filtered"
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odom_topic: "odometry"
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odom_duration: 0.1
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deadband_velocity: [0.0, 0.0, 0.0]
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velocity_timeout: 1.0
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