From b39d5c95def97ee4e291d94aa334d8d01a6859fd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 13 Sep 2023 14:01:52 +0200
Subject: [PATCH] update

---
 config/nav2_params.yaml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index b8783ce..202958e 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -437,11 +437,12 @@ controller_server:
     FollowPath:
       plugin: "nav2_rotation_shim_controller::RotationShimController"
       primary_controller: "dwb_core::DWBLocalPlanner"
+      # RotaitonShimController parameters:
       angular_dist_threshold: 6.283 #was 0.785 now equals 360 degrees
       forward_sampling_distance: 0.5
-      rotate_to_heading_angular_vel: 1.8
+      rotate_to_heading_angular_vel: 2.8 # was 1.8
       max_angular_accel: 1.2
-      simulate_ahead_time: 1.0
+      simulate_ahead_time: 2.0 # was 1.0
 
       # Primary controller params can be placed here below
       debug_trajectory_details: False