From 87028bc2b3bd117a78331d3df753b390650cb13d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Mon, 9 Oct 2023 17:05:03 +0200 Subject: [PATCH] update --- config/nav2_params.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index c5c1b50..b16ce10 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -195,8 +195,8 @@ controller_server: movement_time_allowance: 10.0 goal_checker: plugin: "nav2_controller::SimpleGoalChecker" - xy_goal_tolerance: 0.1 # was 0.25 - yaw_goal_tolerance: 0.1 # was 0.25 + xy_goal_tolerance: 0.25 # was 0.25 + yaw_goal_tolerance: 0.25 # was 0.25 stateful: True FollowPath: plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" @@ -218,7 +218,7 @@ controller_server: use_cost_regulated_linear_velocity_scaling: false regulated_linear_scaling_min_radius: 0.9 regulated_linear_scaling_min_speed: 0.25 - use_rotate_to_heading: false # was true, cannot be set together with allow_reversing + use_rotate_to_heading: true # was true, cannot be set together with allow_reversing allow_reversing: true # was false rotate_to_heading_min_angle: 0.785 max_angular_accel: 3.2