X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fbase_local_planner_params.yaml;h=93b53a46a351200ad32737b7b83acccab75c315b;hp=212e2b639d5af79ed6938397e3c2d245385fc751;hb=0bf5df6648a8d2ad791e2c0f95b83524eaded03a;hpb=2fa12e4c1e20c530f143c05c55dedf71a28c0a0f

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 212e2b6..93b53a4 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -5,11 +5,30 @@ TrajectoryPlannerROS:
   max_vel_theta: 0.4
   min_in_place_vel_theta: 0.4
 
-  acc_lim_x: 2.5
+  acc_lim_x: 10.07
   acc_lim_y: 0.0
-  acc_lim_theta: 0.3
+  acc_lim_theta: 12.00
 
   holonomic_robot: false
   meter_scoring: true
 
-  sim_granularity: 0.01
+  xy_goal_tolerance: 0.20
+  yaw_goal_tolerance: 0.3
+
+DWAPlannerROS:
+  acc_lim_x: 10.07
+  acc_lim_y: 0.0
+  acc_lim_th: 12.00
+
+  max_vel_x: 0.5
+  min_vel_x: 0.0 # no backward movement
+  max_vel_y: 0.0
+  min_vel_y: 0.0
+
+  max_trans_vel: 0.5
+  min_trans_vel: 0.2
+  max_rot_vel: 0.4
+  min_rot_vel: 0.3
+
+  xy_goal_tolerance: 0.20
+  yaw_goal_tolerance: 0.3