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update

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Björn Ellensohn 2023-09-14 10:12:01 +02:00
parent 1321b5ede8
commit 6fc7a1d8d8
1 changed files with 4 additions and 4 deletions
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8
config/nav2_params.yaml
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@ -695,11 +695,11 @@ velocity_smoother:
scale_velocities: False scale_velocities: False
#feedback: "OPEN_LOOP" #feedback: "OPEN_LOOP"
feedback: "CLOSED_LOOP" feedback: "CLOSED_LOOP"
max_velocity: [0.26, 0.0, 1.0] max_velocity: [0.26, 0.0, 2.0] # was 0.26, 0.0, 1.0
min_velocity: [-0.26, 0.0, -1.0] min_velocity: [-0.26, 0.0, -2.0] # was -0.26, 0.0, -1.0
max_accel: [2.5, 0.0, 3.2] max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2] max_decel: [-2.5, 0.0, -3.2]
odom_topic: "odometry" odom_topic: "odometry"
odom_duration: 0.1 odom_duration: 0.025 # was 0.1, set to 40 hz to match odometry freq.
deadband_velocity: [0.0, 0.0, 0.0] deadband_velocity: [0.1, 0.1, 0.1] # was 0.0, 0.0, 0.0
velocity_timeout: 1.0 velocity_timeout: 1.0