Tuning azimut3 navigation parameters

launch/azimut3/config/base_local_planner_params.yaml

@@ -3,24 +3,39 @@ TrajectoryPlannerROS:
   # Current limits based on AZ3 standalone configuration.
   acc_lim_x:  0.75
   acc_lim_y:  0.75
-  acc_lim_theta: 4.00
+  acc_lim_theta: 4
   # min_vel_x and max_rotational_vel were set to keep the ICR at
   # minimal distance of 0.48 m. 
   # Basically, max_rotational_vel * rho_min <= min_vel_x
-  max_vel_x:  0.700
+  max_vel_x:  0.7
   min_vel_x:  0.24
-  max_rotational_vel: 0.5
-  min_in_place_rotational_vel: 0.15
+  max_vel_theta: 0.5
+  min_vel_theta: -0.5
+  min_in_place_vel_theta: 0.25
+  holonomic_robot: true
 
-  xy_goal_tolerance:  0.20
-  yaw_goal_tolerance: 0.20
-
-  sim_time: 1.5
-  vtheta_samples: 30
+  xy_goal_tolerance:  0.25
+  yaw_goal_tolerance: 0.25
+  latch_xy_goal_tolerance: true
+  
+  # make sure that the minimum velocity multiplied by the sim_period is less than twice the tolerance on a goal. Otherwise, the robot will prefer to rotate in place just outside of range of its target position rather than moving towards the goal.
+  sim_time: 1.5 # set between 1 and 2. The higher he value, the smoother the path (though more samples would be required).
+  sim_granularity: 0.025
+  angular_sim_granularity: 0.05
+  vx_samples: 12
+  vtheta_samples: 20
 
   meter_scoring: true
 
+  pdist_scale: 0.95 # The higher will follow more the global path.
+  gdist_scale: 0.2
+  occdist_scale: 0.01
+  publish_cost_grid_pc: false
+
+#move_base
+controller_frequency: 10.0 #The robot can move faster when higher.
+
 #global planner 
 NavfnROS:
-    allow_unknown: false
-    visualize_potential: true
+    allow_unknown: true
+    visualize_potential: false