X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fbase_local_planner_params.yaml;h=bc544b8b5b38f947fe3ed4336cec678194a7ea95;hp=ce83faa07793005fc700ea3ac52652be9d4765ce;hb=5d2b909797fd168b0981af8f4570d608a9a32626;hpb=e8230ee2c5fdd15175bce8ba99df2b686b56306d

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index ce83faa..bc544b8 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -6,7 +6,7 @@ TrajectoryPlannerROS:
   min_in_place_vel_theta: 0.4
   max_rotational_vel: 1.0 # used by rotate recovery
 
-  acc_lim_x: 10.07
+  acc_lim_x: 0.14
   acc_lim_y: 0.0
   acc_lim_theta: 6.00
 
@@ -26,6 +26,15 @@ TrajectoryPlannerROS:
   # How far to look ahead in time in seconds along the simulated trajectory when using heading scoring, default: 0.1
   heading_scoring_timestep: 0.3
 
+  # 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