Merge pull request #76 from KBKN-Autonomous-Robotics-Lab/fix/velocity…

…_increase Fix/velocity increase
KBKN-Autonomous-Robotics-Lab · Nov 8, 2023 · d5e7630 · d5e7630
2 parents 0193bff + bcabe81
commit d5e7630
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Showing 2 changed files with 14 additions and 14 deletions.
diff --git a/orange_bringup/config/motor_driver_params.yaml b/orange_bringup/config/motor_driver_params.yaml
@@ -25,10 +25,10 @@ motor_driver_node:
     set_decel_time_right: 200 # ms
 
     # Maximum rpm
-    max_left_rpm: 100
-    max_right_rpm: 100
+    max_left_rpm: 162
+    max_right_rpm: 162
     # Width of rpm to be regarded as 0
     # If 3, then -3 to 3 is considered rpm 0
     deadband_rpm: 3
 
-    #Max speed = {max_rpm * (2pi/60)}*wheel_radius = 1.023m/s
+    #Max speed = {max_rpm * (2pi/60)}*wheel_radius = 1.656m/s = 5.962km/h
diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml
@@ -133,11 +133,11 @@ controller_server:
       debug_trajectory_details: True
       min_vel_x: 0.0
       min_vel_y: 0.0
-      max_vel_x: 1.0
+      max_vel_x: 1.6
       max_vel_y: 0.0
       max_vel_theta: 0.5
       min_speed_xy: 0.0
-      max_speed_xy: 1.0
+      max_speed_xy: 1.6
       min_speed_theta: 0.0
       acc_lim_x: 0.5
       acc_lim_y: 0.0
@@ -168,19 +168,19 @@ controller_server:
       Oscillation.x_only_threshold: 0.05
       Oscillation.scale: 1.0
       BaseObstacle.sum_scores: false
-      BaseObstacle.scale: 0.02
-      GoalAlign.forward_point_distance: 0.1
+      BaseObstacle.scale: 1.0
+      GoalAlign.forward_point_distance: 0.325
       GoalAlign.aggregation_type: "last"
-      GoalAlign.scale: 24.0
-      PathAlign.forward_point_distance: 1.0
+      GoalAlign.scale: 1.0
+      PathAlign.forward_point_distance: 0.325
       PathAlign.aggregation_type: "last"
-      PathAlign.scale: 50.0
+      PathAlign.scale: 1.0
       PathDist.aggregation_type: "last"
-      PathDist.scale: 32.0
+      PathDist.scale: 1.0
       GoalDist.aggregation_type: "last"
-      GoalDist.scale: 24.0
+      GoalDist.scale: 1.0
       ObstacleFootprint.sum_scores: false
-      ObstacleFootprint.scale: 32.0
+      ObstacleFootprint.scale: 1.0
 
 controller_server_rclcpp_node:
   ros__parameters:
@@ -335,7 +335,7 @@ velocity_smoother:
     smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"
-    max_velocity: [1.0, 0.0, 1.0]
+    max_velocity: [1.6, 0.0, 0.5]
     min_velocity: [-1.0, 0.0, -1.0]
     max_accel: [0.5, 0.0, 0.5]
     max_decel: [-0.5, 0.0, -0.5]