ellensohn/cps_rmp220_support
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update

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Björn Ellensohn 2023-09-14 10:26:45 +02:00
parent 6fc7a1d8d8
commit 79e1df8309
1 changed files with 4 additions and 2 deletions
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6
config/nav2_params.yaml
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@ -471,11 +471,11 @@ 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", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] # added TwirlingCritic, remove BaseObstacleCritic, adde ObstacleFootprintCritic critics: ["RotateToGoal", "Oscillation", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "PreferForward"] # added TwirlingCritic, PreferForward, remove BaseObstacleCritic, adde ObstacleFootprintCritic
ObstacleFootprintCritic.scale: 0.08 # was 0.02 ObstacleFootprintCritic.scale: 0.08 # was 0.02
PathAlign.scale: 32.0 PathAlign.scale: 32.0
GoalAlign.scale: 24.0 GoalAlign.scale: 24.0
PathAlign.forward_point_distance: 0.1 PathAlign.forward_point_distance: 0.05 # was 0.1
GoalAlign.forward_point_distance: 0.1 GoalAlign.forward_point_distance: 0.1
PathDist.scale: 32.0 PathDist.scale: 32.0
GoalDist.scale: 24.0 GoalDist.scale: 24.0
@ -483,6 +483,8 @@ controller_server:
RotateToGoal.slowing_factor: 5.0 RotateToGoal.slowing_factor: 5.0
RotateToGoal.lookahead_time: -1.0 RotateToGoal.lookahead_time: -1.0
#TwirlingCritic.scale: 0.02 # was 1.0 #TwirlingCritic.scale: 0.02 # was 1.0
PreferForward.penalty: 1.0
PreferForward.scale: 5.0
local_costmap: local_costmap:
local_costmap: local_costmap: