From f7b41b72e05800a8b452929e113efa6dfee3cbd5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Fri, 8 Sep 2023 10:16:56 +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 542d7d5..d9250b5 100644 --- a/config/nav2_params.yaml +++ b/config/nav2_params.yaml @@ -544,7 +544,7 @@ planner_server: 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 - minimum_turning_radius: 0.0 # was 0.40 # minimum turning radius in m of path / vehicle + minimum_turning_radius: 0.02 # was 0.40 # minimum turning radius in m of path / vehicle reverse_penalty: 1.3 # was 2.0 # Penalty to apply if motion is reversing, must be => 1 change_penalty: 0.5 # was 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0 non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1