Merge pull request #29 from ETHZ-RobotX/param_fix

change params (for exploration)
ETHZ-RobotX · Jul 13, 2023 · 875cbf4 · 875cbf4
2 parents eeddf6b + ae5e3f2
commit 875cbf4
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/smb_navigation/config/base_local_planner_exploration.yaml b/smb_navigation/config/base_local_planner_exploration.yaml
@@ -20,14 +20,14 @@ TebLocalPlannerROS:
   global_plan_viapoint_sep: 0.5
 
   # Robot
-  max_vel_x: 0.75
+  max_vel_x: 0.5
   max_vel_y: 0.0
-  max_vel_x_backwards: 0.75
+  max_vel_x_backwards: 0.5
   max_vel_y_backwards: 0.0
   max_vel_theta: 1.0
   acc_lim_x: 1.0
   acc_lim_y: 0.0
-  acc_lim_theta: 1.0
+  acc_lim_theta: 2.0
 
   use_proportional_saturation: true
 
@@ -75,7 +75,7 @@ TebLocalPlannerROS:
   weight_kinematics_turning_radius: 0.5
   weight_optimaltime: 25.0
   weight_shortest_path: 1.0
-  weight_obstacle: 1
+  weight_obstacle: 50
   weight_viapoint: 1.0 # Increase to stick closer to global plan
   weight_dynamic_obstacle: 10 # not in use yet
   selection_alternative_time_cost: False # not in use yet

diff --git a/smb_navigation/config/move_base_costmaps/global_costmap_params_exploration.yaml b/smb_navigation/config/move_base_costmaps/global_costmap_params_exploration.yaml
@@ -7,7 +7,7 @@ global_costmap:
 
   rolling_window: true
   resolution: 0.05
-  footprint: [[0.43, 0.43], [0.43, -0.43], [-0.43, -0.43], [-0.43, 0.43]]  # footprint fo the robot, centered in robot centre
+  footprint: [[0.40, 0.40], [0.40, -0.40], [-0.40, -0.40], [-0.40, 0.40]]  # footprint fo the robot, centered in robot centre
   # robot_radius: 0.4 # Just use radius now instead of footprint (To speedup collision checking)
 
   width: 30.0

diff --git a/smb_navigation/config/move_base_costmaps/local_costmap_params.yaml b/smb_navigation/config/move_base_costmaps/local_costmap_params.yaml
@@ -4,7 +4,7 @@ local_costmap:
   update_frequency: 10.0
   publish_frequency: 2.0
   transform_tolerance: 0.5 # [s]
-  footprint: [[0.43, 0.43], [0.43, -0.43], [-0.43, -0.43], [-0.43, 0.43]]  # footprint fo the robot, centered in robot centre
+  footprint: [[0.40, 0.40], [0.40, -0.40], [-0.40, -0.40], [-0.40, 0.40]]  # footprint fo the robot, centered in robot centre
   # robot_radius: 0.4 # Just use radius now instead of footprint (To speedup collision checking)
 
   rolling_window: true