ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-10-02 09:58:42 +02:00
parent 7e912cc8be
commit 944fb79401
1 changed files with 4 additions and 4 deletions
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8
config/nav2_params.yaml
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@ -440,8 +440,8 @@ controller_server:
# RotaitonShimController parameters: # RotaitonShimController parameters:
angular_dist_threshold: 0.785 #was 6.283 now lowered value angular_dist_threshold: 0.785 #was 6.283 now lowered value
forward_sampling_distance: 0.5 forward_sampling_distance: 0.5
rotate_to_heading_angular_vel: 2.8 # was 1.8 rotate_to_heading_angular_vel: 1.8 # was 2.8
max_angular_accel: 1.2 max_angular_accel: 0.6 # was 1.2
simulate_ahead_time: 1.0 # was 1.0 simulate_ahead_time: 1.0 # was 1.0
# Primary controller params can be placed here below # Primary controller params can be placed here below
@ -475,7 +475,7 @@ controller_server:
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: 0.05 # was 0.1 PathAlign.forward_point_distance: 0.01 # was 0.5
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
@ -483,7 +483,7 @@ 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.penalty: 0.8 # was 1.0
PreferForward.scale: 32.0 # was 5.0 PreferForward.scale: 32.0 # was 5.0
Oscillation.scale: 20.0 Oscillation.scale: 20.0