Commit 2463921b authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Updated with optinal navigation parameters

parent 2a1d3604
......@@ -38,9 +38,9 @@ laser_likelihood_max_dist: 2.0
laser_model_type: 'likelihood_field'
# odom parameters
odom_model_type: "diff"
odom_alpha1: 10.0
odom_alpha2: 10.0
odom_alpha1: 1.0
odom_alpha2: 1.0
odom_alpha3: 0.2
odom_alpha4: 10.0
odom_alpha4: 1.0
odom_alpha5: 0.2
tf_broadcast: false
......@@ -3,8 +3,8 @@ global_frame: adc_car/odom
update_frequency: 5.0
publish_frequency: 2.0
rolling_window: true
width: 5.0
height: 5.0
width: 3.0
height: 3.0
resolution: 0.05
origin_x: 0.0
origin_y: 0.0
......
base_global_planner: "iri_opendrive_global_planner/OpendriveGlobalPlanner"
OpendriveGlobalPlanner:
opendrive_frame: "opendrive"
angle_tol: 0.5
angle_tol: 1.5707
dist_tol: 0.3
multi_hyp: True
multi_hyp: False
resolution: 0.01
scale_factor: 10.0
min_road_length: 0.01
......
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