added move_base, configs, edited urdf

[arm_ros_conn.git] / config / base_local_planner_params.yaml

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
new file mode 100644 (file)
index 0000000..d046846
--- /dev/null
+++ b/config/base_local_planner_params.yaml
@@ -0,0 +1,12 @@
+TrajectoryPlannerROS:
+  max_vel_x: 0.20
+  min_vel_x: 0.20
+  max_vel_theta: 1.5
+  min_vel_theta: 0.8
+  min_in_place_vel_theta: 0.8
+
+  acc_lim_x: 180
+  acc_lim_y: 0.0
+  acc_lim_th: 620
+
+  holonomic_robot: false