From 5e7c529558d5086302de3678506b7228941d4194 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Mon, 21 Aug 2023 11:35:29 +0200
Subject: [PATCH] switched to smac_hybrid planner

---
 config/nav2_params.yaml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 0c81936..c9612e3 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -298,9 +298,10 @@ planner_server:
     use_sim_time: True
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      #plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_smac_planner/SmacPlannerHybrid"
       tolerance: 0.5
-      use_astar: false
+      #use_astar: false
       allow_unknown: true
 
 smoother_server: