navigation stack tuning
[ros_wild_thumper.git] / urdf / wild_thumper.urdf.xacro
index f50da66..95957e3 100644 (file)
                <gazebo reference="${pos}_${side}_wheel">
                        <mu1 value="1.0"/>
                        <mu2 value="0.2"/>
-                       <kp value="1000000.0" />
-                       <kd value="1.0" />
+                       <kp value="1000000000000.0" />
+                       <kd value="0.0" />
                        <fdir1 value="0 1 0"/>
                        <minDepth>0.005</minDepth>
                </gazebo>
                                        </horizontal>
                                </scan>
                                <range>
-                                       <min>0.15</min>
+                                       <min>0.20</min>
                                        <max>16.0</max>
                                        <resolution>0.01</resolution>
                                </range>