X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=config%2Fbase_local_planner_params.yaml;h=ae715827b8bc7027aa8ec6eb1197e1902f2e63c5;hp=d046846262e769172edc947a81ce8d3d48404bd3;hb=59aa8070d143dfe926defadfd3364d0c2185fef1;hpb=96d21443973d80f3a7cca78ee2cfda60d06f6ce3

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index d046846..ae71582 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -1,12 +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
+  max_vel_x: 0.50
+  min_vel_x: 0.10
+  max_vel_theta: 1.0
+  min_vel_theta: -1.0
+  min_in_place_vel_theta: 0.4
 
-  acc_lim_x: 180
-  acc_lim_y: 0.0
-  acc_lim_th: 620
+  acc_lim_x: 2.5
+  acc_lim_y: 2.5
+  acc_lim_theta: 3.2
 
   holonomic_robot: false