reenabled motor handicap and made parameters configureable with

[ros_wild_thumper.git] / config / wt_node.cfg

diff --git a/config/wt_node.cfg b/config/wt_node.cfg
index 45ad4ebb65f1ec16c85a39a9d1a85912742c2dea..dbd9c1b285ef9922372e9f0ae2ab75624e8d5e6e 100755 (executable)
--- a/config/wt_node.cfg
+++ b/config/wt_node.cfg
@@ -5,6 +5,11 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 
 gen.add("range_sensor_clip",   bool_t,         0, "Clip range sensor values to max range", True)
-gen.add("range_sensor_max",    double_t,       0, "Range sensor max range", 0.5, 0.4, 6)
+gen.add("range_sensor_max",    double_t,       0, "Range sensor max range", 0.5, 0.4, 4)
+gen.add("odom_covar_xy",       double_t,       0, "Odometry covariance: translation", 1e-2, 1e-6, 1)
+gen.add("odom_covar_angle",    double_t,       0, "Odometry covariance: rotation", 0.25, 1e-6, 6.2832)
+gen.add("pitch_handicap_enable",bool_t,                0, "Enable motor handicap on pitch", True)
+gen.add("pitch_handicap_limit",        double_t,       0, "Pitch handicap limit (degree)", 30, 0, 90)
+gen.add("pitch_handicap_strength",double_t,    0, "Pitch handicap limit strength", 60, 0, 100)
 
 exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper"))