X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fbase_local_planner_params.yaml;h=bbd95c1c339522ef49e863a4ac614b52133d3062;hp=212e2b639d5af79ed6938397e3c2d245385fc751;hb=3e7d2e6fd87ff390509020f73776417cea105d89;hpb=53c52f19f4cd243c9f5a66780ca365d54820761f

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 212e2b6..bbd95c1 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -4,12 +4,32 @@ TrajectoryPlannerROS:
   min_vel_theta: -0.4
   max_vel_theta: 0.4
   min_in_place_vel_theta: 0.4
+  max_rotational_vel: 0.5 # 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
 
-  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: 0.5
+  min_rot_vel: 0.4
+
+  xy_goal_tolerance: 0.20
+  yaw_goal_tolerance: 0.3