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Björn Ellensohn 2023-10-03 14:23:23 +02:00
parent 44b8859852
commit c6489f483b
1 changed files with 1 additions and 1 deletions
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config/nav2_params.yaml
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@ -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