diff --git a/params/local_planner/dwa_params.yaml b/params/local_planner/dwa_params.yaml index 010fd81059d843bd15316058188bf3ce0062d9b0..8f9ac4d5b6ffdb64e09e1ff9aa0a6f8ce37f8755 100644 --- a/params/local_planner/dwa_params.yaml +++ b/params/local_planner/dwa_params.yaml @@ -32,7 +32,7 @@ DWAPlannerROS: controller_frequency: 20.0 # defines the sim_period # Trajectory scoring parameters - path_distance_bias: 200.0 + path_distance_bias: 50.0 goal_distance_bias: 10.0 occdist_scale: 0.05 twirling_scale: 0.0