X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fbase_local_planner_params.yaml;fp=config%2Fbase_local_planner_params.yaml;h=0ce322b1d25fd45cc313cccf30f7c46c5a1682cb;hp=b48a72f681513ff5b6cad33745371744141ac0ad;hb=670ead7985c1c4df661d9e95e20a0b805c0347f8;hpb=dad024ae410398fbf60b75619545e9ee4ab9dad3

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index b48a72f..0ce322b 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -8,14 +8,21 @@ TrajectoryPlannerROS:
 
   acc_lim_x: 10.07
   acc_lim_y: 0.0
-  acc_lim_theta: 12.00
+  acc_lim_theta: 6.00
 
   holonomic_robot: false
+  # gdist_scale and pdist_scale parameters should assume meters
   meter_scoring: true
 
   xy_goal_tolerance: 0.20
   yaw_goal_tolerance: 0.3
 
+  # 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
+
 DWAPlannerROS:
   acc_lim_x: 10.07
   acc_lim_y: 0.0