From ee125d0ce21767da518f9f505d4db1af41b74eb3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 27 Sep 2023 11:52:36 +0200
Subject: [PATCH] update

---
 config/nav2_params.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 49a7659..712d973 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -484,7 +484,7 @@ controller_server:
       RotateToGoal.lookahead_time: -1.0
       #TwirlingCritic.scale: 0.02 # was 1.0
       PreferForward.penalty: 1.0
-      PreferForward.scale: 5.0
+      PreferForward.scale: 32.0 # was 5.0
       Oscillation.scale: 20.0
 
 local_costmap:
@@ -715,6 +715,6 @@ velocity_smoother:
     max_accel: [2.5, 0.0, 3.2]
     max_decel: [-2.5, 0.0, -3.2]
     odom_topic: "/odometry/filtered"
-    odom_duration: 0.025 # was 0.1, set to 40 hz to match odometry freq.
+    odom_duration: 0.0333 # was 0.1, set to 30 hz to match odometry freq.
     deadband_velocity: [0.1, 0.1, 0.1] # was 0.0, 0.0, 0.0
     velocity_timeout: 1.0
\ No newline at end of file