From 56a1de8b336159d3bb1a7c46bd4fc3f7e68529a2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Fri, 8 Sep 2023 09:55:23 +0200 Subject: [PATCH] update --- config/nav2_params.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index 00da132..b8a2d89 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -408,7 +408,7 @@ controller_server: use_rotate_to_heading: true allow_reversing: true rotate_to_heading_min_angle: 0.785 - max_angular_accel: 3.2 + max_angular_accel: 1.2 max_robot_pose_search_dist: 10.0 use_interpolation: true @@ -545,7 +545,7 @@ planner_server: analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach. analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting minimum_turning_radius: 0.15 # was 0.40 # minimum turning radius in m of path / vehicle - reverse_penalty: 2.0 # Penalty to apply if motion is reversing, must be => 1 + reverse_penalty: 1.0 # was 2.0 # Penalty to apply if motion is reversing, must be => 1 change_penalty: 0.5 # was 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0 non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1 cost_penalty: 2.0 # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.