Merge branch 'master' into feat/testing_param_to_stop_rotating

butia-bots · Sep 27, 2023 · 13c8a4b · 13c8a4b
2 parents d89e955 + d85fe13
commit 13c8a4b
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Showing 4 changed files with 14 additions and 2 deletions.
diff --git a/butia_navigation_description/config/param/dwa_local_planner_params.yaml b/butia_navigation_description/config/param/dwa_local_planner_params.yaml
@@ -1,7 +1,7 @@
 DWAPlannerROS:
 
 # Robot Configuration Parameters - Kobuki
-  max_vel_x: 0.3  ## 0.55
+  max_vel_x: 0.3 ## 0.55
   min_vel_x: 0  ##
 
   max_vel_y: 0.0  # diff drive robot

diff --git a/butia_navigation_description/config/param/navfn_global_planner_params.yaml b/butia_navigation_description/config/param/navfn_global_planner_params.yaml
@@ -6,5 +6,5 @@ NavfnROS:
   planner_window_x: 0.0         # Specifies the x size of an optional window to restrict the planner to, default 0.0
   planner_window_y: 0.0         # Specifies the y size of an optional window to restrict the planner to, default 0.0
 
-  default_tolerance: 3.0        # If the goal is in an obstacle, the planer will plan to the nearest point in the radius of default_tolerance, default 0.0
+  default_tolerance: 0.5        # If the goal is in an obstacle, the planer will plan to the nearest point in the radius of default_tolerance, default 0.0
                                 # The area is always searched, so could be slow for big values
diff --git a/butia_navigation_gazebo/maps/corredor_itec.pgm b/butia_navigation_gazebo/maps/corredor_itec.pgm
diff --git a/butia_navigation_gazebo/maps/corredor_itec.yaml b/butia_navigation_gazebo/maps/corredor_itec.yaml
@@ -0,0 +1,7 @@
+image: corredor_itec.pgm
+resolution: 0.050000
+origin: [-13.800000, -26.600000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+