From a9a67684bb3f5ea2e63b56fecf61fb062d0a45c6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Mon, 21 Aug 2023 08:58:31 +0200
Subject: [PATCH] inflation_radius

---
 config/nav2_params.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 7a90a47..4e223a4 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -142,7 +142,8 @@ controller_server:
 
       # trying roation_shim_controller
       plugin: "nav2_rotation_shim_controller::RotationShimController"
-      primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
+      #primary_controller: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
+      primary_controller: "dwb_core::DWBLocalPlanner"
       angular_dist_threshold: 0.785
       forward_sampling_distance: 0.5
       rotate_to_heading_angular_vel: 1.8