From ba15e3ddcc8826d757b5aad0b52e04c0f7312448 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Thu, 14 Sep 2023 10:36:00 +0200
Subject: [PATCH] update

---
 config/nav2_params.yaml | 33 +++++++++++++++++++++++----------
 1 file changed, 23 insertions(+), 10 deletions(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 2a8ffbf..4e7742a 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -588,17 +588,30 @@ map_saver:
     occupied_thresh_default: 0.65
     map_subscribe_transient_local: True
 
+# planner_server:
+#   ros__parameters:
+#     expected_planner_frequency: 20.0
+#     use_sim_time: False
+#     planner_plugins: ["GridBased"]
+#     GridBased:
+#       plugin: "nav2_navfn_planner/NavfnPlanner"
+#       #plugin: "nav2_smac_planner/SmacPlanner2D"
+#       tolerance: 0.5
+#       #use_astar: false
+#       allow_unknown: true
+
+### Trying theta-star planner
 planner_server:
-  ros__parameters:
-    expected_planner_frequency: 20.0
-    use_sim_time: False
-    planner_plugins: ["GridBased"]
-    GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
-      #plugin: "nav2_smac_planner/SmacPlanner2D"
-      tolerance: 0.5
-      #use_astar: false
-      allow_unknown: true
+ros__parameters:
+  expected_planner_frequency: 20.0
+  use_sim_time: True
+  planner_plugins: ["GridBased"]
+  GridBased:
+    plugin: "nav2_theta_star_planner/ThetaStarPlanner"
+    how_many_corners: 8
+    w_euc_cost: 1.0
+    w_traversal_cost: 2.0
+    w_heuristic_cost: 1.0
 
 # trying smac hybrid planner
 # planner_server: