ellensohn/cps_rmp220_support
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update

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This commit is contained in:
Björn Ellensohn 2023-09-27 11:52:36 +02:00
parent 5974d6db3a
commit ee125d0ce2
1 changed files with 2 additions and 2 deletions
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4
config/nav2_params.yaml
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@ -484,7 +484,7 @@ controller_server:
RotateToGoal.lookahead_time: -1.0 RotateToGoal.lookahead_time: -1.0
#TwirlingCritic.scale: 0.02 # was 1.0 #TwirlingCritic.scale: 0.02 # was 1.0
PreferForward.penalty: 1.0 PreferForward.penalty: 1.0
PreferForward.scale: 5.0 PreferForward.scale: 32.0 # was 5.0
Oscillation.scale: 20.0 Oscillation.scale: 20.0
local_costmap: local_costmap:
@ -715,6 +715,6 @@ velocity_smoother:
max_accel: [2.5, 0.0, 3.2] max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2] max_decel: [-2.5, 0.0, -3.2]
odom_topic: "/odometry/filtered" 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 deadband_velocity: [0.1, 0.1, 0.1] # was 0.0, 0.0, 0.0
velocity_timeout: 1.0 velocity_timeout: 1.0