X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fbase_local_planner_params.yaml;h=212e2b639d5af79ed6938397e3c2d245385fc751;hp=9cc7b79ad5bd8f469ba3ef372c65962648ab2651;hb=53c52f19f4cd243c9f5a66780ca365d54820761f;hpb=9706b0b09528077ec0553f429fe4c4d2f5aa9f57

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 9cc7b79..212e2b6 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -1,13 +1,15 @@
 TrajectoryPlannerROS:
-  min_vel_x: 0.1
+  min_vel_x: 0.2
   max_vel_x: 0.3
-  min_vel_theta: -1.0
-  max_vel_theta: 1.0
+  min_vel_theta: -0.4
+  max_vel_theta: 0.4
   min_in_place_vel_theta: 0.4
 
   acc_lim_x: 2.5
   acc_lim_y: 0.0
-  acc_lim_theta: 3.2
+  acc_lim_theta: 0.3
 
   holonomic_robot: false
   meter_scoring: true
+
+  sim_granularity: 0.01