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Updated azimut3 nav parameters, fixed last goal not sent when distance between last goal and transform to goal is < goalReachedRadius

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matlabbe
2015-03-18 18:00:30 -04:00
parent a0ae280b74
commit c58a11da0b
3 changed files with 29 additions and 34 deletions
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launch/azimut3/config/base_local_planner_params.yaml
+7 -7
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@@ -8,23 +8,23 @@ TrajectoryPlannerROS:
# minimal distance of 0.48 m.
# Basically, max_rotational_vel * rho_min <= min_vel_x
max_vel_x: 0.700
min_vel_x: 0.212
max_rotational_vel: 0.550
min_vel_x: 0.24
max_rotational_vel: 0.5
min_in_place_rotational_vel: 0.15
escape_vel: -0.10
holonomic_robot: false
holonomic_robot: true
xy_goal_tolerance: 0.20
yaw_goal_tolerance: 0.20
sim_time: 1.7
sim_time: 1
sim_granularity: 0.025
vx_samples: 3
vtheta_samples: 3
vtheta_samples: 20
controller_frequency: 10
goal_distance_bias: 0.8
path_distance_bias: 0.6
pdist_scale: 0.6
gdist_scale: 0.8
occdist_scale: 0.01
heading_lookahead: 0.325
dwa: true