Remove sim_granularity for usage on ARM

diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index b163e5e1e649c8e14cc591ce1c8852566d7df1f0..612ab552ad977c17ee1cbad56e7a5c98c142a8db 100644 (file)
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -29,6 +29,12 @@ TrajectoryPlannerROS:
   # How far the robot must travel in meters before oscillation flags are reset, default: 0.05
   oscillation_reset_dist: 0.1
 
   # 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
 DWAPlannerROS:
   acc_lim_x: 10.07
   acc_lim_y: 0.0

diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml
index 5bb308db66f22f0b6c874f6d335bbc9f9d66f509..eb3e89cd18cce0e4705e133ad49d20155307eb99 100644 (file)
--- a/config/global_costmap_params.yaml
+++ b/config/global_costmap_params.yaml
@@ -1,7 +1,6 @@
 global_costmap:
   global_frame: /map
   robot_base_frame: base_footprint
 global_costmap:
   global_frame: /map
   robot_base_frame: base_footprint

-  update_frequency: 5.0

   static_map: true
   plugins:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}
   static_map: true
   plugins:
   - {name: static_layer, type: 'costmap_2d::StaticLayer'}