From ff197323cc8ed3a809488b8ad6f3458cffb9fc3b Mon Sep 17 00:00:00 2001
From: shunki1006 <88425011+shunki1006@users.noreply.github.com>
Date: Tue, 7 Nov 2023 20:30:34 +0900
Subject: [PATCH] fix_GoalAlignCritic

---
 orange_navigation/config/navigation2_params.yaml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/orange_navigation/config/navigation2_params.yaml b/orange_navigation/config/navigation2_params.yaml
index 711d267..dbd257d 100644
--- a/orange_navigation/config/navigation2_params.yaml
+++ b/orange_navigation/config/navigation2_params.yaml
@@ -159,8 +159,6 @@ controller_server:
       critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
       PathAlign.scale: 50.0
       PathAlign.forward_point_distance: 1.0
-      GoalAlign.scale: 24.0
-      GoalAlign.forward_point_distance: 0.1
       PathDist.scale: 32.0
       GoalDist.scale: 24.0
       ObstacleFootprint.scale: 32.0
@@ -176,6 +174,9 @@ controller_server:
       Oscillation.scale: 1.0
       BaseObstacle.sum_scores: false
       BaseObstacle.scale: 0.02
+      GoalAlign.forward_point_distance: 0.1
+      GoalAlign.aggregation_type: "last"
+      GoalAlign.scale: 24.0
 
 controller_server_rclcpp_node:
   ros__parameters: