ellensohn/cps_rmp220_support
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update

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Björn Ellensohn 2023-09-08 11:11:42 +02:00
parent 05c74aed5c
commit ae8980da19
1 changed files with 2 additions and 2 deletions
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4
config/nav2_params.yaml
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@ -462,8 +462,8 @@ controller_server:
trans_stopped_velocity: 0.25 trans_stopped_velocity: 0.25
short_circuit_trajectory_evaluation: True short_circuit_trajectory_evaluation: True
stateful: True stateful: True
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "TwirlingCritic"] # added TwirlingCritic critics: ["RotateToGoal", "Oscillation", "ObstacleFootprintCritic", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "TwirlingCritic"] # added TwirlingCritic, remove BaseObstacleCritic, adde ObstacleFootprintCritic
BaseObstacle.scale: 0.08 # was 0.02 ObstacleFootprintCritic.scale: 0.08 # was 0.02
PathAlign.scale: 32.0 PathAlign.scale: 32.0
GoalAlign.scale: 24.0 GoalAlign.scale: 24.0
PathAlign.forward_point_distance: 0.1 PathAlign.forward_point_distance: 0.1