Commit b9af6bb1 authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Update nav and mapping params

parent 852ab483
......@@ -14,16 +14,16 @@ iterations: 5
lsigma: 0.075
ogain: 3.0
lskip: 0
minimumScore: 0.0 #0.0
minimumScore: 50.0 #0.0
srr: 0.1
srt: 0.2
str: 0.1
stt: 0.2
linearUpdate: 0.1 #1.0
angularUpdate: 0.05 #0.5
linearUpdate: 0.05 #1.0
angularUpdate: 0.01 #0.5
temporalUpdate: 1.0 #-1.0
resampleThreshold: 0.5
particles: 80 #30
particles: 200 #30
xmin: -5.0
ymin: -5.0
xmax: 5.0
......
......@@ -18,7 +18,7 @@ DWAPlannerROS:
# are non-negligible and small in place rotational velocities will be created.
max_vel_theta: 5.0 # choose slightly less than the base's capability
min_vel_theta: 0.4 # this is the min angular velocity when there is negligible translational velocity
min_vel_theta: 0.1 # this is the min angular velocity when there is negligible translational velocity
theta_stopped_vel: 0.4
acc_lim_x: 1.0 # maximum is theoretically 2.0, but we
......@@ -39,7 +39,7 @@ DWAPlannerROS:
# Trajectory Scoring Parameters
path_distance_bias: 64.0 # 32.0 - weighting for how much it should stick to the global path plan
goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal
occdist_scale: 0.5 # 0.01 - weighting for how much the controller should avoid obstacles
occdist_scale: 0.1 # 0.01 - weighting for how much the controller should avoid obstacles
forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point
stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj.
scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint
......
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