Adapt navigation config to more trustworthy IMU

[ros_wild_thumper.git] / config / base_local_planner_params.yaml

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 18234088eae5148d365085886e2f23e2e6ea5819..ce83faa07793005fc700ea3ac52652be9d4765ce 100644 (file)
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -14,14 +14,14 @@ TrajectoryPlannerROS:
   # 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