From 5e02ed5a934142ea49f74e77bb3359c8c238182b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Mon, 21 Aug 2023 10:06:34 +0200
Subject: [PATCH] update acc limits in dwb

---
 config/nav2_params.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 62d2915..0c81936 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -162,12 +162,12 @@ controller_server:
       min_speed_theta: 0.0
       # Add high threshold velocity for turtlebot 3 issue.
       # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
-      acc_lim_x: 2.5
+      acc_lim_x: 0.5 # was 2.5
       acc_lim_y: 0.0
-      acc_lim_theta: 3.2
-      decel_lim_x: -2.5
+      acc_lim_theta: 1.2 # was 3.2
+      decel_lim_x: -0.5 # was -2.5
       decel_lim_y: 0.0
-      decel_lim_theta: -3.2
+      decel_lim_theta: -1.2 # was -3.2
       vx_samples: 20
       vy_samples: 5
       vtheta_samples: 20