Merge pull request #58 from ut-amrl/intermediate_planner

Intermediate planner runtime flag
ut-amrl · Oct 17, 2024 · e3f4574 · e3f4574
2 parents 1c294bb + fe5345a
commit e3f4574
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Showing 5 changed files with 251 additions and 241 deletions.
diff --git a/.github/workflows/buildTest.yml b/.github/workflows/buildTest.yml
@@ -39,6 +39,7 @@ jobs:
           sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
           sudo rosdep init
           rosdep update
+          sudo apt install ros-noetic-costmap-2d
 
       # Install libtorch
       - name: Install libtorch

diff --git a/config/navigation.lua b/config/navigation.lua
@@ -21,7 +21,7 @@ NavigationParameters = {
   max_angular_accel = 0.5;
   max_angular_decel = 0.5;
   max_angular_speed = 1.0;
-  carrot_dist = 1.5;
+  carrot_dist = 3.5;
   system_latency = 0.24;
   obstacle_margin = 0.15;
   num_options = 31;