dwa planner tuning

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 93b53a46a351200ad32737b7b83acccab75c315b..bbd95c1c339522ef49e863a4ac614b52133d3062 100644 (file)
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -4,6 +4,7 @@ TrajectoryPlannerROS:
   min_vel_theta: -0.4
   max_vel_theta: 0.4
   min_in_place_vel_theta: 0.4
+  max_rotational_vel: 0.5 # used by rotate recovery
 
   acc_lim_x: 10.07
   acc_lim_y: 0.0
@@ -27,8 +28,8 @@ DWAPlannerROS:
 
   max_trans_vel: 0.5
   min_trans_vel: 0.2
-  max_rot_vel: 0.4
-  min_rot_vel: 0.3
+  max_rot_vel: 0.5
+  min_rot_vel: 0.4
 
   xy_goal_tolerance: 0.20
   yaw_goal_tolerance: 0.3