Increase max speeds and reduce goal tolerance

robomechanics · May 3, 2024 · eff4502 · eff4502
1 parent 3ca304d
commit eff4502
Showing 1 changed file with 8 additions and 8 deletions.
diff --git a/robo_nav/config/planner_params.yaml b/robo_nav/config/planner_params.yaml
@@ -12,25 +12,25 @@ DWAPlannerROS:
 
   acc_lim_trans: 5.0
 
-  acc_lim_theta: 5.0
-  acc_lim_th: 5.0
+  acc_lim_theta: 6.0
+  acc_lim_th: 6.0
 
   max_vel_x: 2.0
   min_vel_x: -2.0
 
-  min_vel_trans: 0.4
+  min_vel_trans: 0.5
   max_vel_trans: 2.0
 
-  max_vel_theta: 2.0
-  min_vel_theta: -2.0
+  max_vel_theta: 3.5
+  min_vel_theta: -3.5
 
-  theta_stopped_vel: 0.5
+  theta_stopped_vel: 0.4
 
   # min_in_place_vel_theta: 2.1
 
   # Goal Tolerance Parameters
-  yaw_goal_tolerance: 0.25
-  xy_goal_tolerance: 0.2
+  yaw_goal_tolerance: 0.3
+  xy_goal_tolerance: 0.33
   latch_xy_goal_tolerance: false
 
   # # Forward Simulation Parameters