ellensohn/cps_rmp220_support
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This commit is contained in:
Björn Ellensohn 2023-09-13 14:01:52 +02:00
parent cd7751cbf5
commit b39d5c95de
1 changed files with 3 additions and 2 deletions
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5
config/nav2_params.yaml
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@ -437,11 +437,12 @@ controller_server:
FollowPath: FollowPath:
plugin: "nav2_rotation_shim_controller::RotationShimController" plugin: "nav2_rotation_shim_controller::RotationShimController"
primary_controller: "dwb_core::DWBLocalPlanner" primary_controller: "dwb_core::DWBLocalPlanner"
# RotaitonShimController parameters:
angular_dist_threshold: 6.283 #was 0.785 now equals 360 degrees angular_dist_threshold: 6.283 #was 0.785 now equals 360 degrees
forward_sampling_distance: 0.5 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 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 # Primary controller params can be placed here below
debug_trajectory_details: False debug_trajectory_details: False