X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Fbase_local_planner_params.yaml;h=ce83faa07793005fc700ea3ac52652be9d4765ce;hp=18234088eae5148d365085886e2f23e2e6ea5819;hb=e8230ee2c5fdd15175bce8ba99df2b686b56306d;hpb=54a59e74352041bdda72f2eea2cab24683f0e16a

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index 1823408..ce83faa 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -14,14 +14,14 @@ TrajectoryPlannerROS:
   # gdist_scale and pdist_scale parameters should assume meters
   meter_scoring: true
 
-  xy_goal_tolerance: 0.20
-  yaw_goal_tolerance: 0.3
+  xy_goal_tolerance: 0.15
+  yaw_goal_tolerance: 0.1
 
   # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01
   occdist_scale: 0.02
 
   # Whether to score based on the robot's heading to the path or its distance from the path, default: false
-  heading_scoring: true
+  heading_scoring: false
 
   # 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