From 3e7d2e6fd87ff390509020f73776417cea105d89 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Fri, 1 Apr 2016 18:10:35 +0200 Subject: [PATCH] dwa planner tuning --- config/base_local_planner_params.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml index 93b53a4..bbd95c1 100644 --- 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 -- 2.39.5