From c6489f483bc7a12e46395c5ba93bb0fc0df3c938 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Tue, 3 Oct 2023 14:23:23 +0200 Subject: [PATCH] update --- config/nav2_params.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml index 93e8b96..8901149 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -167,7 +167,7 @@ controller_server: trans_stopped_velocity: 0.25 short_circuit_trajectory_evaluation: True stateful: True - critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "ObstacleFootprintCritic"] + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "ObstacleFootprint", "PreferForward"] BaseObstacle.scale: 0.02 PathAlign.scale: 32.0 PathAlign.forward_point_distance: 0.1