fix_PathAlignCritic

KBKN-Autonomous-Robotics-Lab · Nov 7, 2023 · d5e6447 · d5e6447
1 parent ff19732
commit d5e6447
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml
@@ -157,8 +157,6 @@ controller_server:
       short_circuit_trajectory_evaluation: True
       stateful: True
       critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
-      PathAlign.scale: 50.0
-      PathAlign.forward_point_distance: 1.0
       PathDist.scale: 32.0
       GoalDist.scale: 24.0
       ObstacleFootprint.scale: 32.0
@@ -177,6 +175,9 @@ controller_server:
       GoalAlign.forward_point_distance: 0.1
       GoalAlign.aggregation_type: "last"
       GoalAlign.scale: 24.0
+      PathAlign.forward_point_distance: 1.0
+      PathAlign.aggregation_type: "last"
+      PathAlign.scale: 50.0
 
 controller_server_rclcpp_node:
   ros__parameters: