X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fbase_local_planner_params.yaml;h=b48a72f681513ff5b6cad33745371744141ac0ad;hp=3b509c3ee603f5605462b5a1dbc5891e2b7069ce;hb=cc73472b4a28a4ea6a97d96621b3ca260be01098;hpb=483eaf7aa8ff347bee867cc5e79196cbe6e33dc3

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 3b509c3..b48a72f 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -1,13 +1,35 @@
 TrajectoryPlannerROS:
-  min_vel_x: 0.1
-  max_vel_x: 0.3
-  min_vel_theta: -0.4
-  max_vel_theta: 0.4
+  min_vel_x: 0.2
+  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: 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
+
+  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: 1.0
+  min_rot_vel: 0.4
+
+  xy_goal_tolerance: 0.1
+  yaw_goal_tolerance: 0.2