From 944fb79401d73f5ed65c848c4cb96449a287e16c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Mon, 2 Oct 2023 09:58:42 +0200 Subject: [PATCH] update --- config/nav2_params.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index 74a929e..de0ca21 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -440,8 +440,8 @@ controller_server: # RotaitonShimController parameters: angular_dist_threshold: 0.785 #was 6.283 now lowered value forward_sampling_distance: 0.5 - rotate_to_heading_angular_vel: 2.8 # was 1.8 - max_angular_accel: 1.2 + rotate_to_heading_angular_vel: 1.8 # was 2.8 + max_angular_accel: 0.6 # was 1.2 simulate_ahead_time: 1.0 # was 1.0 # Primary controller params can be placed here below @@ -475,7 +475,7 @@ controller_server: ObstacleFootprintCritic.scale: 0.08 # was 0.02 PathAlign.scale: 32.0 GoalAlign.scale: 24.0 - PathAlign.forward_point_distance: 0.05 # was 0.1 + PathAlign.forward_point_distance: 0.01 # was 0.5 GoalAlign.forward_point_distance: 0.1 PathDist.scale: 32.0 GoalDist.scale: 24.0 @@ -483,7 +483,7 @@ controller_server: RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0 #TwirlingCritic.scale: 0.02 # was 1.0 - PreferForward.penalty: 1.0 + PreferForward.penalty: 0.8 # was 1.0 PreferForward.scale: 32.0 # was 5.0 Oscillation.scale: 20.0