ellensohn/cps_rmp220_support
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changed nav2 params odometry filtered

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Björn Ellensohn 2023-09-05 12:27:13 +02:00
parent 7becd9415a
commit 9efa6bb1d6
1 changed files with 2 additions and 2 deletions
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config/nav2_params.yaml
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@ -44,7 +44,7 @@ bt_navigator:
use_sim_time: True use_sim_time: True
global_frame: map global_frame: map
robot_base_frame: base_link robot_base_frame: base_link
odom_topic: /odom odom_topic: /odometry/filtered
bt_loop_duration: 10 bt_loop_duration: 10
default_server_timeout: 20 default_server_timeout: 20
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
@ -366,7 +366,7 @@ velocity_smoother:
min_velocity: [-0.26, 0.0, -1.0] min_velocity: [-0.26, 0.0, -1.0]
max_accel: [2.5, 0.0, 3.2] max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2] max_decel: [-2.5, 0.0, -3.2]
odom_topic: "odom" odom_topic: "odometry/filtered"
odom_duration: 0.1 odom_duration: 0.1
deadband_velocity: [0.0, 0.0, 0.0] deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0 velocity_timeout: 1.0