X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fbase_local_planner_params.yaml;h=0ce322b1d25fd45cc313cccf30f7c46c5a1682cb;hp=93b53a46a351200ad32737b7b83acccab75c315b;hb=960b4320eba23fd66f053f719b2acdc87522c1bf;hpb=0bf5df6648a8d2ad791e2c0f95b83524eaded03a

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 93b53a4..0ce322b 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -1,20 +1,28 @@
 TrajectoryPlannerROS:
   min_vel_x: 0.2
-  max_vel_x: 0.3
-  min_vel_theta: -0.4
-  max_vel_theta: 0.4
+  max_vel_x: 0.5
+  min_vel_theta: -1.0
+  max_vel_theta: 1.0
   min_in_place_vel_theta: 0.4
+  max_rotational_vel: 1.0 # used by rotate recovery
 
   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
@@ -27,8 +35,8 @@ DWAPlannerROS:
 
   max_trans_vel: 0.5
   min_trans_vel: 0.2
-  max_rot_vel: 0.4
-  min_rot_vel: 0.3
+  max_rot_vel: 1.0
+  min_rot_vel: 0.4
 
-  xy_goal_tolerance: 0.20
-  yaw_goal_tolerance: 0.3
+  xy_goal_tolerance: 0.1
+  yaw_goal_tolerance: 0.2