Updated params

config/params.yaml

@@ -4,7 +4,7 @@ fixed_frame: map
 base_link_frame: base_link
 tf_timeout: 0.2
 err_msg_rate: 0.5
-calculate_ang_vel: False
+calculate_ang_vel: True
 watchdog_t: 1.0
 
 collision_timeout: 4.0
@@ -12,7 +12,7 @@ collision_acc_transition_counter_en: True
 collision_acc_th: 5.0
 collision_acc_counter_limit: 20
 collision_ang_vel_transition_counter_en: True
-collision_ang_vel_th: 0.4
+collision_ang_vel_th: 0.3
 #collision_ang_vel_th: 0.2
 collision_ang_vel_counter_limit: 20
 odom_trans_th: 0.2
@@ -24,5 +24,5 @@ buffer_size: 10
 scan_diff_t_from_collision: 0.1
 front_laser_en: True
 rear_laser_en: True
-icp_min_points: 280
-icp_max_err_by_points: 0.5
+icp_min_points: 260
+icp_max_err_by_points: 0.4