ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-10-09 16:36:19 +02:00
parent 246a91fecc
commit a53b2d6170
1 changed files with 4 additions and 4 deletions
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8
config/nav2_params.yaml
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@ -195,8 +195,8 @@ controller_server:
movement_time_allowance: 10.0 movement_time_allowance: 10.0
goal_checker: goal_checker:
plugin: "nav2_controller::SimpleGoalChecker" plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.35 # was 0.25 xy_goal_tolerance: 0.5 # was 0.25
yaw_goal_tolerance: 0.35 # was 0.25 yaw_goal_tolerance: 0.5 # was 0.25
stateful: True stateful: True
FollowPath: FollowPath:
plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
@ -208,7 +208,7 @@ controller_server:
rotate_to_heading_angular_vel: 1.8 rotate_to_heading_angular_vel: 1.8
transform_tolerance: 0.1 transform_tolerance: 0.1
use_velocity_scaled_lookahead_dist: false use_velocity_scaled_lookahead_dist: false
min_approach_linear_velocity: 0.01 # was 0.05 min_approach_linear_velocity: 0.007 # was 0.05
approach_velocity_scaling_dist: 0.6 approach_velocity_scaling_dist: 0.6
use_collision_detection: true use_collision_detection: true
max_allowed_time_to_collision_up_to_carrot: 1.0 max_allowed_time_to_collision_up_to_carrot: 1.0
@ -223,7 +223,7 @@ controller_server:
rotate_to_heading_min_angle: 0.785 rotate_to_heading_min_angle: 0.785
max_angular_accel: 3.2 max_angular_accel: 3.2
max_robot_pose_search_dist: 10.0 max_robot_pose_search_dist: 10.0
use_interpolation: true # was false use_interpolation: false # was false
local_costmap: local_costmap: