From ae8980da193de4c8c62292b1f2a95b22197af574 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Fri, 8 Sep 2023 11:11:42 +0200 Subject: [PATCH] update --- config/nav2_params.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index 5c05ee1..aaf5e4e 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -462,8 +462,8 @@ controller_server: trans_stopped_velocity: 0.25 short_circuit_trajectory_evaluation: True stateful: True - critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "TwirlingCritic"] # added TwirlingCritic - BaseObstacle.scale: 0.08 # was 0.02 + critics: ["RotateToGoal", "Oscillation", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "TwirlingCritic"] # added TwirlingCritic, remove BaseObstacleCritic, adde ObstacleFootprintCritic + ObstacleFootprintCritic.scale: 0.08 # was 0.02 PathAlign.scale: 32.0 GoalAlign.scale: 24.0 PathAlign.forward_point_distance: 0.1