# 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