ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-09-04 10:22:06 +02:00
parent c7ff5a593e
commit 88ed614af0
1 changed files with 8 additions and 8 deletions
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16
config/nav2_params.yaml
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@ -111,9 +111,9 @@ bt_navigator_navigate_to_pose_rclcpp_node:
controller_server: controller_server:
ros__parameters: ros__parameters:
use_sim_time: True use_sim_time: True
controller_frequency: 20.0 controller_frequency: 50.0
min_x_velocity_threshold: 0.001 min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5 min_y_velocity_threshold: 0.001
min_theta_velocity_threshold: 0.001 min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3 failure_tolerance: 0.3
progress_checker_plugin: "progress_checker" progress_checker_plugin: "progress_checker"
@ -156,18 +156,18 @@ controller_server:
min_vel_x: 0.0 min_vel_x: 0.0
min_vel_y: 0.0 min_vel_y: 0.0
max_vel_x: 0.26 max_vel_x: 0.26
max_vel_y: 0.0 max_vel_y: 0.26
max_vel_theta: 1.0 max_vel_theta: 1.0
min_speed_xy: 0.001 min_speed_xy: 0.001
max_speed_xy: 0.26 max_speed_xy: 0.26
min_speed_theta: 0.0 min_speed_theta: 0.0
# Add high threshold velocity for turtlebot 3 issue. # Add high threshold velocity for turtlebot 3 issue.
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
acc_lim_x: 0.05 # was 2.5 acc_lim_x: 0.02 # was 2.5
acc_lim_y: 0.1 acc_lim_y: 0.02
acc_lim_theta: 1.0 # was 3.2 acc_lim_theta: 1.0 # was 3.2
decel_lim_x: -0.05 # was -2.5 decel_lim_x: -0.02 # was -2.5
decel_lim_y: 0.0 decel_lim_y: -0.02
decel_lim_theta: -0.1 # was -3.2 decel_lim_theta: -0.1 # was -3.2
vx_samples: 20 vx_samples: 20
vy_samples: 5 vy_samples: 5
@ -195,7 +195,7 @@ controller_server:
local_costmap: local_costmap:
local_costmap: local_costmap:
ros__parameters: ros__parameters:
update_frequency: 10.0 # was 5.0 update_frequency: 20.0 # was 5.0
publish_frequency: 5.0 # was 2.0 publish_frequency: 5.0 # was 2.0
global_frame: odom global_frame: odom
robot_base_frame: base_link robot_base_frame: base_link