From 600928bc1ad74c0d227c414f6e9298cc8d66c959 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sun, 4 Mar 2018 11:03:22 +0100 Subject: [PATCH] Remove sim_granularity for usage on ARM --- config/base_local_planner_params.yaml | 6 ++++++ config/global_costmap_params.yaml | 1 - 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml index b163e5e..612ab55 100644 --- 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 + # 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 diff --git a/config/global_costmap_params.yaml b/config/global_costmap_params.yaml index 5bb308d..eb3e89c 100644 --- 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 - update_frequency: 5.0 static_map: true plugins: - {name: static_layer, type: 'costmap_2d::StaticLayer'} -- 2.39.2