navigation stack tuning

[ros_wild_thumper.git] / urdf / wild_thumper.urdf.xacro

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index f50da66a00d57acdc1b1e9dc43582523eeb45b9b..95957e3c36e4d705d04bfc82b86983bc8fd2bfc8 100644 (file)
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -165,8 +165,8 @@
                <gazebo reference="${pos}_${side}_wheel">
                        <mu1 value="1.0"/>
                        <mu2 value="0.2"/>
                <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>
                        <fdir1 value="0 1 0"/>
                        <minDepth>0.005</minDepth>
                </gazebo>


@@ -274,7 +274,7 @@
                                        </horizontal>
                                </scan>
                                <range>
                                        </horizontal>
                                </scan>
                                <range>

-                                       <min>0.15</min>
+                                       <min>0.20</min>

                                        <max>16.0</max>
                                        <resolution>0.01</resolution>
                                </range>
                                        <max>16.0</max>
                                        <resolution>0.01</resolution>
                                </range>