From e8230ee2c5fdd15175bce8ba99df2b686b56306d Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Mon, 5 Jun 2017 11:10:07 +0200
Subject: [PATCH] Adapt navigation config to more trustworthy IMU

---
 config/base_local_planner_params.yaml | 6 +++---
 config/global_costmap_params.yaml     | 4 +++-
 launch/move_base.launch               | 4 ++--
 3 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 1823408..ce83faa 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -14,14 +14,14 @@ TrajectoryPlannerROS:
   # gdist_scale and pdist_scale parameters should assume meters
   meter_scoring: true
 
-  xy_goal_tolerance: 0.20
-  yaw_goal_tolerance: 0.3
+  xy_goal_tolerance: 0.15
+  yaw_goal_tolerance: 0.1
 
   # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01
   occdist_scale: 0.02
 
   # Whether to score based on the robot's heading to the path or its distance from the path, default: false
-  heading_scoring: true
+  heading_scoring: false
 
   # How far to look ahead in time in seconds along the simulated trajectory when using heading scoring, default: 0.1
   heading_scoring_timestep: 0.3
diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index dde44ae..3dfcf59 100644
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -8,4 +8,6 @@ global_costmap:
   - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
 
 inflation_layer:
-  inflation_radius: 0.25
+  # low slope decay curve
+  inflation_radius: 1.75
+  cost_scaling_factor: 2.58
diff --git a/launch/move_base.launch b/launch/move_base.launch
index f2fd733..9c6755d 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -25,9 +25,9 @@
 			<!-- How many evenly-spaced beams in each scan to be used when updating the filter. -->
 			<param name="laser_max_beams" value="50" />
 			<!-- Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. -->
-			<param name="recovery_alpha_slow" value="0.01" />
+			<param name="recovery_alpha_slow" value="0.001" />
 			<!-- Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. -->
-			<param name="recovery_alpha_fast" value="0.2" />
+			<param name="recovery_alpha_fast" value="0.1" />
 			<!-- Minimum allowed number of particles. -->
 			<param name="min_particles" value="100" />
 		</group>
-- 
2.39.5