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fix_nav2_param #75

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merged 10 commits into from
Nov 7, 2023
+23 −13
Merged

fix_nav2_param #75

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d7bbae2
fix_nav2_param
Nov 6, 2023
6e89346
fix_RotateToGoalCritic_param
shunki1006 Nov 7, 2023
6948943
fix_OscillationCritic_param
shunki1006 Nov 7, 2023
c4f6120
fix_BaseObstacleCritic
shunki1006 Nov 7, 2023
ff19732
fix_GoalAlignCritic
shunki1006 Nov 7, 2023
d5e6447
fix_PathAlignCritic
shunki1006 Nov 7, 2023
8df3ae3
fix_PathDistCritic
shunki1006 Nov 7, 2023
b69bc4c
fix_GoalDistCritic
shunki1006 Nov 7, 2023
ee79bc1
fix_ObstacleFootprint_param
shunki1006 Nov 7, 2023
ca382ba
Update navigation2_params.yaml
shunki1006 Nov 7, 2023
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8 changes: 4 additions & 4 deletions orange_navigation/config/navigation2_params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,8 @@ amcl:
laser_model_type: "likelihood_field"
set_initial_pose: True
initial_pose: {x: 0.0, y: 0.0, z: 0.0, yaw: 0.0}
max_beams: 100
max_particles: 500
max_beams: 300
max_particles: 1500
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
Expand Down Expand Up @@ -125,7 +125,7 @@ controller_server:
stateful: True
plugin: "nav2_controller::SimpleGoalChecker"
xy_goal_tolerance: 0.25
yaw_goal_tolerance: 0.25
yaw_goal_tolerance: 0.50

FollowPath:
plugin: "dwb_core::DWBLocalPlanner"
Expand Down Expand Up @@ -169,7 +169,7 @@ controller_server:
GoalDist.scale: 24.0
ObstacleFootprint.scale: 32.0
RotateToGoal.scale: 32.0
RotateToGoal.slowing_factor: 5.0
RotateToGoal.slowing_factor: -1.0
RotateToGoal.lookahead_time: -1.0

controller_server_rclcpp_node:
Expand Down
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