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=93b53a46a351200ad32737b7b83acccab75c315b;hb=cc73472b4a28a4ea6a97d96621b3ca260be01098;hpb=0bf5df6648a8d2ad791e2c0f95b83524eaded03a

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 93b53a4..b48a72f 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -1,9 +1,10 @@
 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
@@ -27,8 +28,8 @@ 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