min_in_place_vel_theta: 0.4
max_rotational_vel: 1.0 # used by rotate recovery
- acc_lim_x: 10.07
+ acc_lim_x: 0.14
acc_lim_y: 0.0
acc_lim_theta: 6.00
# 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
+ # How far the robot must travel in meters before oscillation flags are reset, default: 0.05
+ oscillation_reset_dist: 0.1
+
+ # The step size, in meters, to take between points on a given trajectory, default: 0.025
+ sim_granularity: 0.05
+
+ # The step size, in radians, to take between angular samples on a given trajectory, default: sim_granularity
+ angular_sim_granularity: 0.05
+
DWAPlannerROS:
acc_lim_x: 10.07
acc_lim_y: 0.0