From ef1a27034fa672cb63507ee61e3e0d3ffe41ec26 Mon Sep 17 00:00:00 2001 From: Juancams Date: Sat, 19 Oct 2024 16:29:49 +0200 Subject: [PATCH] Changed params Signed-off-by: Juancams --- config/kobuki_sim_nav_params.yaml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/config/kobuki_sim_nav_params.yaml b/config/kobuki_sim_nav_params.yaml index d8d7286..6665e32 100644 --- a/config/kobuki_sim_nav_params.yaml +++ b/config/kobuki_sim_nav_params.yaml @@ -37,7 +37,7 @@ amcl: z_rand: 0.5 z_short: 0.05 scan_topic: /scan_raw - set_initial_pose: false + set_initial_pose: true initial_pose: x: 0.0 y: 0.0 @@ -117,7 +117,7 @@ collision_monitor: state_topic: "collision_monitor_state" transform_tolerance: 0.2 source_timeout: 1.0 - base_shift_correction: True + base_shift_correction: False stop_pub_timeout: 2.0 # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, # and robot footprint for "approach" action type. @@ -130,19 +130,19 @@ collision_monitor: simulation_time_step: 0.1 min_points: 6 visualize: False - enabled: True + enabled: False observation_sources: ["scan"] scan: type: "scan" topic: "/scan_raw" min_height: 0.15 max_height: 2.0 - enabled: True + enabled: False controller_server: ros__parameters: use_sim_time: true - controller_frequency: 20.0 + controller_frequency: 30.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 @@ -170,11 +170,11 @@ controller_server: debug_trajectory_details: True min_vel_x: 0.0 min_vel_y: 0.0 - max_vel_x: 1.00 + max_vel_x: 0.30 max_vel_y: 0.0 - max_vel_theta: 5.00 + max_vel_theta: 1.00 min_speed_xy: 0.0 - max_speed_xy: 1.00 + max_speed_xy: 0.30 min_speed_theta: 0.0 acc_lim_x: 2.5 acc_lim_y: 0.0