Tuned some navigation parameters to improve the robot motion.

darwin_nav/config/dwa_local_planner_params.yaml

@@ -5,14 +5,14 @@ DWAPlannerROS:
   min_trans_vel: 0.01
   max_vel_x: 0.1 
   min_vel_x: -0.1 
-  max_vel_y: 0.0 
-  min_vel_y: 0.0
+  max_vel_y: 0.1 
+  min_vel_y: -0.1
   max_rot_vel: 0.4
   min_rot_vel: 0.1 
 
   sim_time: 10
   sim_granularity: 0.025
-  angular_sim_granularity: 0.1
+  angular_sim_granularity: 0.01
 
   path_distance_bias: 32.0
   goal_distance_bias: 24.0
@@ -38,7 +38,7 @@ DWAPlannerROS:
   rot_stopped_vel: 0.01
   trans_stopped_vel: 0.01
 
-  xy_goal_tolerance: 0.05
+  xy_goal_tolerance: 0.1
   yaw_goal_tolerance: 0.05
 
   #not in dynamic reconfigure
@@ -46,7 +46,7 @@ DWAPlannerROS:
   publish_cost_grid_pc: false #true, useful to play with goal/path_distance_bias parameters
 
 #move_base namespace
-  latch_xy_goal_tolerance: true #false
+latch_xy_goal_tolerance: true #false
 
   #prune_plan: true
   #use_dwa: true