From ae5e3f2135205a2492530d5dfb56d2bb258fcbd1 Mon Sep 17 00:00:00 2001
From: manthan99 <manthanhemangpatel@gmail.com>
Date: Thu, 13 Jul 2023 11:36:26 +0200
Subject: [PATCH] change params

---
 smb_navigation/config/base_local_planner_exploration.yaml | 8 ++++----
 .../global_costmap_params_exploration.yaml                | 2 +-
 .../config/move_base_costmaps/local_costmap_params.yaml   | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/smb_navigation/config/base_local_planner_exploration.yaml b/smb_navigation/config/base_local_planner_exploration.yaml
index 42344c2..24d1c14 100644
--- 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
index 614267e..759a93f 100644
--- 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
index 0cd7dec..9e6e0ca 100644
--- 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