From ed2efad0acbb9429a40731acb313a86a0bef5ff5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Fri, 8 Sep 2023 09:49:02 +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 c8f7ed4..95963a7 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -540,7 +540,7 @@ planner_server: max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution max_planning_time: 5.0 # max time in s for planner to plan, smooth - motion_model_for_search: "Hybrid-A*" #was DUBIN # Hybrid-A* Dubin, Redds-Shepp + motion_model_for_search: "DUBIN" #was DUBIN # Hybrid-A* Dubin, Redds-Shepp angle_quantization_bins: 72 # Number of angle bins for search analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach. analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting