ellensohn/cps_rmp220_support
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This commit is contained in:
Björn Ellensohn 2023-09-04 09:53:32 +02:00
parent ef59228459
commit a3c1bea792
1 changed files with 3 additions and 2 deletions
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config/nav2_params.yaml
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@ -141,9 +141,10 @@ controller_server:
# plugin: "dwb_core::DWBLocalPlanner" # plugin: "dwb_core::DWBLocalPlanner"
# trying roation_shim_controller # trying roation_shim_controller
plugin: "nav2_rotation_shim_controller::RotationShimController" #plugin: "nav2_rotation_shim_controller::RotationShimController"
plugin: "dwb_core::DWBLocalPlanner"
#primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" #primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
primary_controller: "dwb_core::DWBLocalPlanner" #primary_controller: "dwb_core::DWBLocalPlanner"
angular_dist_threshold: 0.785 angular_dist_threshold: 0.785
forward_sampling_distance: 0.5 forward_sampling_distance: 0.5
rotate_to_heading_angular_vel: 1.8 rotate_to_heading_angular_vel: 1.8