From 76e77dcc4acc9ecdbd210003c1063c5ae50f3a22 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Fri, 8 Sep 2023 10:48:39 +0200
Subject: [PATCH] update

---
 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 3e73f85..7ef4cd1 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -436,7 +436,7 @@ controller_server:
     # DWB controller parameters
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"
-      debug_trajectory_details: True
+      debug_trajectory_details: False
       min_vel_x: 0.0
       min_vel_y: 0.0
       max_vel_x: 0.26
@@ -462,7 +462,7 @@ controller_server:
       trans_stopped_velocity: 0.25
       short_circuit_trajectory_evaluation: True
       stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "TwirlingCritic"] # added TwirlingCritic
       BaseObstacle.scale: 0.02
       PathAlign.scale: 32.0
       GoalAlign.scale: 24.0
@@ -473,6 +473,7 @@ controller_server:
       RotateToGoal.scale: 32.0
       RotateToGoal.slowing_factor: 5.0
       RotateToGoal.lookahead_time: -1.0
+      TwirlingCritic.scale: 1.0
 
 local_costmap:
   local_costmap: