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adjustment navigation2 parameter #40

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merged 1 commit into from
Aug 26, 2023
Merged

adjustment navigation2 parameter #40

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4 changes: 1 addition & 3 deletions yacyac_navigation2/param/yacyac.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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"]
Expand Down