From cc96bfdf17aca7dc5762fb0024988d55fca06580 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 14 Jul 2020 17:25:29 +0200
Subject: [PATCH] The DWA local planner has changed the name of some of the
 configuration parameters.

---
 params/local_planner/dwa_params.yaml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/params/local_planner/dwa_params.yaml b/params/local_planner/dwa_params.yaml
index 3d67331..3e6db94 100644
--- a/params/local_planner/dwa_params.yaml
+++ b/params/local_planner/dwa_params.yaml
@@ -3,19 +3,19 @@ latch_xy_goal_tolerance: true
 
 DWAPlannerROS:
 # robot configuration parameters
-  max_trans_vel: 0.5
-  min_trans_vel: 0.1
+  max_vel_trans: 0.5
+  min_vel_trans: 0.1
   max_vel_x: 0.5
   min_vel_x: -0.5
   max_vel_y: 0.0 
   min_vel_y: 0.0 
-  max_rot_vel:  0.5
-  min_rot_vel:  0.0 
+  max_vel_theta:  0.5
+  min_vel_theta:  0.0 
   acc_lim_theta: 3.0
   acc_lim_x: 1.0
   acc_lim_y: 0.0 
-  acc_limit_trans: 1.0
-  rot_stopped_vel: 0.1
+  acc_lim_trans: 1.0
+  theta_stopped_vel: 0.1
   trans_stopped_vel: 0.1
 
 # goal tolerance parameters
-- 
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