ellensohn/cps_rmp220_support
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Björn Ellensohn 2023-09-08 11:36:07 +02:00
parent 6bb76e5353
commit 77b2817997
1 changed files with 9 additions and 1 deletions
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10
config/nav2_params.yaml
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@ -435,7 +435,15 @@ controller_server:
stateful: True stateful: True
# DWB controller parameters # DWB controller parameters
FollowPath: 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 debug_trajectory_details: False
min_vel_x: 0.0 min_vel_x: 0.0
min_vel_y: 0.0 min_vel_y: 0.0