From 77b281799733159ffc0d9bfeded790a4dc9399b4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Fri, 8 Sep 2023 11:36:07 +0200
Subject: [PATCH] update

---
 config/nav2_params.yaml | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 0dfd44c..4be2ea6 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -435,7 +435,15 @@ controller_server:
       stateful: True
     # DWB controller parameters
     FollowPath:
-      plugin: "dwb_core::DWBLocalPlanner"
+      plugin: "nav2_rotation_shim_controller::RotationShimController"
+      primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
+      angular_dist_threshold: 0.785
+      forward_sampling_distance: 0.5
+      rotate_to_heading_angular_vel: 1.8
+      max_angular_accel: 1.2
+      simulate_ahead_time: 1.0
+
+      # Primary controller params can be placed here below
       debug_trajectory_details: False
       min_vel_x: 0.0
       min_vel_y: 0.0