diff --git a/params/global_planner/sbpl_params.yaml b/params/global_planner/sbpl_params.yaml index 4eb28a34d5964249572bb794f98a3a4fb7e94ca6..7a04ffd3971b44a593c7b577687c4cd078b50a10 100644 --- a/params/global_planner/sbpl_params.yaml +++ b/params/global_planner/sbpl_params.yaml @@ -1 +1,2 @@ base_global_planner: "SBPLLatticePlanner" +SBPLLatticePlanner: diff --git a/params/local_planner/ackermann_params.yaml b/params/local_planner/ackermann_params.yaml index c200188958d6df21e37062b6dc33ed68d7090262..5481d7b2fd3b4fd20e05d1bd880daa3663a7d1c5 100644 --- a/params/local_planner/ackermann_params.yaml +++ b/params/local_planner/ackermann_params.yaml @@ -38,8 +38,8 @@ AckermannPlannerROS: max_steer_vel: 0.3 min_steer_vel: -0.3 max_steer_acc: 1.0 - axis_distance: 0.3662 - wheel_distance: 0.216 + axis_distance: 0.36 + wheel_distance: 0.265 wheel_radius: 0.05 split_ignore_length: 0.1