X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fgps_follow_waypoints.py;h=78eaea5a6715cbc093f172332f4d0ec56c54561f;hp=d3a0b5e28d8f482f960c7d58f183b838909af332;hb=2f194b3fe82009a77b79021f0c57e6ca55c1706f;hpb=e7c8b64287cfec34bcb9527c769389222ec3f3be

diff --git a/scripts/gps_follow_waypoints.py b/scripts/gps_follow_waypoints.py
index d3a0b5e..78eaea5 100755
--- a/scripts/gps_follow_waypoints.py
+++ b/scripts/gps_follow_waypoints.py
@@ -24,7 +24,7 @@ class GPSGotoCoords:
 
 		rospy.loginfo("Setting paramters")
 		self.dynreconf = dynamic_reconfigure.client.Client("/move_base/TrajectoryPlannerROS")
-		self.dynreconf.update_configuration({'max_vel_x': 0.5, 'max_vel_theta': 1.0})
+		self.dynreconf.update_configuration({'max_vel_x': 1.0, 'max_vel_theta': 1.2, 'min_in_place_vel_theta': 1.0})
 
 		rospy.loginfo("Waiting for the move_base action server to come up")
 		self.move_base.wait_for_server()
@@ -64,7 +64,7 @@ class GPSGotoCoords:
 		if self.move_base.get_state() == GoalStatus.SUCCEEDED:
 			rospy.loginfo("The base moved to (%f, %f)" % (lat, lon))
 		else:
-			rospy.logerr("The base failed to (%f, %f)" % (lat, lon))
+			rospy.logerr("The base failed to (%f, %f). Error: %d" % (lat, lon, self.move_base.get_state()))
 			exit(1)
 
 	def on_shutdown(self):