ellensohn/cps_rmp220_support
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update

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Björn Ellensohn 2023-09-26 11:58:49 +02:00
parent 55a8ac04d8
commit f95aea4c3c
1 changed files with 2 additions and 2 deletions
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4
config/nav2_params.yaml
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@ -44,7 +44,7 @@ bt_navigator:
use_sim_time: False
global_frame: map
robot_base_frame: base_link
odom_topic: /odometry
odom_topic: /odometry/filtered
bt_loop_duration: 10
default_server_timeout: 20
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
@ -714,7 +714,7 @@ velocity_smoother:
min_velocity: [-0.26, 0.0, -2.0] # was -0.26, 0.0, -1.0
max_accel: [2.5, 0.0, 3.2]
max_decel: [-2.5, 0.0, -3.2]
odom_topic: "odometry"
odom_topic: "/odometry/filtered"
odom_duration: 0.025 # was 0.1, set to 40 hz to match odometry freq.
deadband_velocity: [0.1, 0.1, 0.1] # was 0.0, 0.0, 0.0
velocity_timeout: 1.0