Merge pull request #40 from dawan0111/feature/nav2

adjustment navigation2 parameter
dawan0111 · Aug 26, 2023 · a71d303 · a71d303
2 parents 65df5e4 + f3fe24b
commit a71d303
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/yacyac_navigation2/param/yacyac.yaml b/yacyac_navigation2/param/yacyac.yaml
@@ -132,8 +132,6 @@ controller_server:
       min_speed_xy: 0.0
       max_speed_xy: 0.4
       min_speed_theta: 0.0
-      # Add high threshold velocity for turtlebot 3 issue.
-      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
       acc_lim_x: 2.5
       acc_lim_y: 0.0
       acc_lim_theta: 3.2
@@ -233,7 +231,7 @@ global_costmap:
       global_frame: map
       robot_base_frame: base_link
       use_sim_time: True
-      robot_radius: 0.1
+      robot_radius: 0.233
       resolution: 0.05
       track_unknown_space: true
       plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]