Copy velocity & acceleration limits from clearpath_control

clearpathrobotics · Nov 7, 2024 · efcea29 · efcea29
1 parent 8b4db14
commit efcea29
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Showing 5 changed files with 49 additions and 49 deletions.
diff --git a/config/dd100/nav2.yaml b/config/dd100/nav2.yaml
@@ -106,12 +106,12 @@ controller_server:
       min_speed_xy: 0.0
       max_speed_xy: 1.0
       min_speed_theta: 0.0
-      acc_lim_x: 10.0
+      acc_lim_x: 1.0
       acc_lim_y: 0.0
-      acc_lim_theta: 10.0
-      decel_lim_x: -10.0
+      acc_lim_theta: 2.0
+      decel_lim_x: -1.0
       decel_lim_y: 0.0
-      decel_lim_theta: -10.0
+      decel_lim_theta: -2.0
       vx_samples: 20
       vy_samples: 5
       vtheta_samples: 20
@@ -280,10 +280,10 @@ velocity_smoother:
     smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"
-    max_velocity: [1.0, 0.0, 1.0]
-    min_velocity: [-1.0, 0.0, -1.0]
-    max_accel: [10.0, 0.0, 10.0]
-    max_decel: [-10.0, 0.0, -10.0]
+    max_velocity: [1.0, 0.0, 4.0]
+    min_velocity: [-1.0, 0.0, -4.0]
+    max_accel: [1.0, 0.0, 2.0]
+    max_decel: [-1.0, 0.0, -2.0]
     odom_topic: "platform/odom/filtered"
     odom_duration: 0.1
     deadband_velocity: [0.0, 0.0, 0.0]

diff --git a/config/dd150/nav2.yaml b/config/dd150/nav2.yaml
@@ -106,12 +106,12 @@ controller_server:
       min_speed_xy: 0.0
       max_speed_xy: 1.0
       min_speed_theta: 0.0
-      acc_lim_x: 10.0
+      acc_lim_x: 1.0
       acc_lim_y: 0.0
-      acc_lim_theta: 10.0
-      decel_lim_x: -10.0
+      acc_lim_theta: 2.0
+      decel_lim_x: -1.0
       decel_lim_y: 0.0
-      decel_lim_theta: -10.0
+      decel_lim_theta: -2.0
       vx_samples: 20
       vy_samples: 5
       vtheta_samples: 20
@@ -280,10 +280,10 @@ velocity_smoother:
     smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"
-    max_velocity: [1.0, 0.0, 1.0]
-    min_velocity: [-1.0, 0.0, -1.0]
-    max_accel: [10.0, 0.0, 10.0]
-    max_decel: [-10.0, 0.0, -10.0]
+    max_velocity: [1.0, 0.0, 4.0]
+    min_velocity: [-1.0, 0.0, -4.0]
+    max_accel: [1.0, 0.0, 2.0]
+    max_decel: [-1.0, 0.0, -2.0]
     odom_topic: "platform/odom/filtered"
     odom_duration: 0.1
     deadband_velocity: [0.0, 0.0, 0.0]

diff --git a/config/do100/nav2.yaml b/config/do100/nav2.yaml
@@ -106,12 +106,12 @@ controller_server:
       min_speed_xy: 0.0
       max_speed_xy: 1.0
       min_speed_theta: 0.0
-      acc_lim_x: 10.0
-      acc_lim_y: 10.0
-      acc_lim_theta: 10.0
-      decel_lim_x: -10.0
-      decel_lim_y: -10.0
-      decel_lim_theta: -10.0
+      acc_lim_x: 1.0
+      acc_lim_y: 1.0
+      acc_lim_theta: 2.0
+      decel_lim_x: -1.0
+      decel_lim_y: -1.0
+      decel_lim_theta: -2.0
       vx_samples: 20
       vy_samples: 5
       vtheta_samples: 20
@@ -280,10 +280,10 @@ velocity_smoother:
     smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"
-    max_velocity: [1.0, 0.0, 1.0]
-    min_velocity: [-1.0, 0.0, -1.0]
-    max_accel: [10.0, 0.0, 10.0]
-    max_decel: [-10.0, 0.0, -10.0]
+    max_velocity: [1.3, 1.3, 4.0]
+    min_velocity: [-1.3, -1.3, -4.0]
+    max_accel: [1.0, 1.0, 2.0]
+    max_decel: [-1.0, -1.0, -2.0]
     odom_topic: "platform/odom/filtered"
     odom_duration: 0.1
     deadband_velocity: [0.0, 0.0, 0.0]

diff --git a/config/do150/nav2.yaml b/config/do150/nav2.yaml
@@ -106,12 +106,12 @@ controller_server:
       min_speed_xy: 0.0
       max_speed_xy: 1.0
       min_speed_theta: 0.0
-      acc_lim_x: 10.0
-      acc_lim_y: 10.0
-      acc_lim_theta: 10.0
-      decel_lim_x: -10.0
-      decel_lim_y: -10.0
-      decel_lim_theta: -10.0
+      acc_lim_x: 1.0
+      acc_lim_y: 1.0
+      acc_lim_theta: 2.0
+      decel_lim_x: -1.0
+      decel_lim_y: -1.0
+      decel_lim_theta: -2.0
       vx_samples: 20
       vy_samples: 5
       vtheta_samples: 20
@@ -280,10 +280,10 @@ velocity_smoother:
     smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"
-    max_velocity: [1.0, 0.0, 1.0]
-    min_velocity: [-1.0, 0.0, -1.0]
-    max_accel: [10.0, 0.0, 10.0]
-    max_decel: [-10.0, 0.0, -10.0]
+    max_velocity: [1.3, 1.3, 4.0]
+    min_velocity: [-1.3, -1.3, -4.0]
+    max_accel: [1.0, 1.0, 2.0]
+    max_decel: [-1.0, -1.0, -2.0]
     odom_topic: "platform/odom/filtered"
     odom_duration: 0.1
     deadband_velocity: [0.0, 0.0, 0.0]

diff --git a/config/r100/nav2.yaml b/config/r100/nav2.yaml
@@ -100,18 +100,18 @@ controller_server:
       debug_trajectory_details: True
       min_vel_x: 0.0
       min_vel_y: 0.0
-      max_vel_x: 1.1
-      max_vel_y: 1.1
+      max_vel_x: 1.3
+      max_vel_y: 1.3
       max_vel_theta: 1.0
       min_speed_xy: 0.0
-      max_speed_xy: 1.0
+      max_speed_xy: 4.0
       min_speed_theta: 0.0
-      acc_lim_x: 0.5
-      acc_lim_y: 0.5
-      acc_lim_theta: 0.5
-      decel_lim_x: -0.5
-      decel_lim_y: -0.5
-      decel_lim_theta: -0.5
+      acc_lim_x: 1.0
+      acc_lim_y: 1.0
+      acc_lim_theta: 2.0
+      decel_lim_x: -1.0
+      decel_lim_y: -1.0
+      decel_lim_theta: -2.0
       vx_samples: 20
       vy_samples: 5
       vtheta_samples: 20
@@ -280,10 +280,10 @@ velocity_smoother:
     smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"
-    max_velocity: [1.0, 0.0, 1.0]
-    min_velocity: [-1.0, 0.0, -1.0]
-    max_accel: [10.0, 0.0, 10.0]
-    max_decel: [-10.0, 0.0, -10.0]
+    max_velocity: [1.3, 1.3, 4.0]
+    min_velocity: [-1.3, -1.3, -4.0]
+    max_accel: [1.0, 1.0, 2.0]
+    max_decel: [-1.0, 1.0, -2.0]
     odom_topic: "platform/odom/filtered"
     odom_duration: 0.1
     deadband_velocity: [0.0, 0.0, 0.0]