From 41a576b98dab0aec277cc043f2fec3e729172159 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Tue, 30 Jun 2020 15:14:51 +0200
Subject: [PATCH] reduce path_distance_bias, made the robot go to slow in order
 to follow the path too strictly

---
 params/local_planner/dwa_params.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/params/local_planner/dwa_params.yaml b/params/local_planner/dwa_params.yaml
index 010fd81..8f9ac4d 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
-- 
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