X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fbase_local_planner_params.yaml;h=612ab552ad977c17ee1cbad56e7a5c98c142a8db;hp=b163e5e1e649c8e14cc591ce1c8852566d7df1f0;hb=600928bc1ad74c0d227c414f6e9298cc8d66c959;hpb=0ef90df168c1e41dfe6218b5555c05863ac72e8d

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index b163e5e..612ab55 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -29,6 +29,12 @@ TrajectoryPlannerROS:
   # How far the robot must travel in meters before oscillation flags are reset, default: 0.05
   oscillation_reset_dist: 0.1
 
+  # The step size, in meters, to take between points on a given trajectory, default: 0.025
+  sim_granularity: 0.05
+
+  # The step size, in radians, to take between angular samples on a given trajectory, default: sim_granularity
+  angular_sim_granularity: 0.05
+
 DWAPlannerROS:
   acc_lim_x: 10.07
   acc_lim_y: 0.0