ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-10-09 17:05:03 +02:00
parent 1825eb5229
commit 87028bc2b3
1 changed files with 3 additions and 3 deletions
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6
config/nav2_params.yaml
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@ -195,8 +195,8 @@ controller_server:
movement_time_allowance: 10.0 movement_time_allowance: 10.0
goal_checker: goal_checker:
plugin: "nav2_controller::SimpleGoalChecker" plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.1 # was 0.25 xy_goal_tolerance: 0.25 # was 0.25
yaw_goal_tolerance: 0.1 # was 0.25 yaw_goal_tolerance: 0.25 # was 0.25
stateful: True stateful: True
FollowPath: FollowPath:
plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
@ -218,7 +218,7 @@ controller_server:
use_cost_regulated_linear_velocity_scaling: false use_cost_regulated_linear_velocity_scaling: false
regulated_linear_scaling_min_radius: 0.9 regulated_linear_scaling_min_radius: 0.9
regulated_linear_scaling_min_speed: 0.25 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 allow_reversing: true # was false
rotate_to_heading_min_angle: 0.785 rotate_to_heading_min_angle: 0.785
max_angular_accel: 3.2 max_angular_accel: 3.2