From 6bb76e53534f7e3cf8914db2657cd223a4b108d5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Fri, 8 Sep 2023 11:19:04 +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 b8fa504..0dfd44c 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -462,7 +462,7 @@ controller_server: trans_stopped_velocity: 0.25 short_circuit_trajectory_evaluation: True stateful: True - critics: ["RotateToGoal", "Oscillation", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "TwirlingCritic"] # added TwirlingCritic, remove BaseObstacleCritic, adde ObstacleFootprintCritic + critics: ["RotateToGoal", "Oscillation", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] # added TwirlingCritic, remove BaseObstacleCritic, adde ObstacleFootprintCritic ObstacleFootprintCritic.scale: 0.08 # was 0.02 PathAlign.scale: 32.0 GoalAlign.scale: 24.0 @@ -473,7 +473,7 @@ controller_server: RotateToGoal.scale: 32.0 RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0 - TwirlingCritic.scale: 0.02 # was 1.0 + #TwirlingCritic.scale: 0.02 # was 1.0 local_costmap: local_costmap: