ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-09-08 10:48:39 +02:00
parent db8a76dd46
commit 76e77dcc4a
1 changed files with 3 additions and 2 deletions
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5
config/nav2_params.yaml
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@ -436,7 +436,7 @@ controller_server:
# DWB controller parameters # DWB controller parameters
FollowPath: FollowPath:
plugin: "dwb_core::DWBLocalPlanner" plugin: "dwb_core::DWBLocalPlanner"
debug_trajectory_details: True debug_trajectory_details: False
min_vel_x: 0.0 min_vel_x: 0.0
min_vel_y: 0.0 min_vel_y: 0.0
max_vel_x: 0.26 max_vel_x: 0.26
@ -462,7 +462,7 @@ controller_server:
trans_stopped_velocity: 0.25 trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True short_circuit_trajectory_evaluation: True
stateful: 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 BaseObstacle.scale: 0.02
PathAlign.scale: 32.0 PathAlign.scale: 32.0
GoalAlign.scale: 24.0 GoalAlign.scale: 24.0
@ -473,6 +473,7 @@ controller_server:
RotateToGoal.scale: 32.0 RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0 RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0 RotateToGoal.lookahead_time: -1.0
TwirlingCritic.scale: 1.0
local_costmap: local_costmap:
local_costmap: local_costmap: