TrajectoryPlannerROS:
- min_vel_x: 0.1
+ min_vel_x: 0.2
max_vel_x: 0.3
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: 2.5
+ acc_lim_x: 10.07
acc_lim_y: 0.0
- acc_lim_theta: 0.3
+ acc_lim_theta: 12.00
holonomic_robot: false
meter_scoring: true
- sim_granularity: 0.01
+ xy_goal_tolerance: 0.20
+ yaw_goal_tolerance: 0.3
+
+DWAPlannerROS:
+ acc_lim_x: 10.07
+ acc_lim_y: 0.0
+ acc_lim_th: 12.00
+
+ max_vel_x: 0.5
+ min_vel_x: 0.0 # no backward movement
+ max_vel_y: 0.0
+ min_vel_y: 0.0
+
+ max_trans_vel: 0.5
+ min_trans_vel: 0.2
+ max_rot_vel: 0.5
+ min_rot_vel: 0.4
+
+ xy_goal_tolerance: 0.20
+ yaw_goal_tolerance: 0.3