tava no robo

butia-bots · Sep 21, 2023 · 8d1d83c · 8d1d83c
1 parent afeb946
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Showing 2 changed files with 3 additions and 3 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
@@ -1,13 +1,13 @@
 DWAPlannerROS:
 
 # Robot Configuration Parameters - Kobuki
-  max_vel_x: 0.4  ## 0.55
+  max_vel_x: 0.3 ## 0.55
   min_vel_x: 0  ##
 
   max_vel_y: 0.0  # diff drive robot
   min_vel_y: 0.0  # diff drive robot
 
-  max_trans_vel: 0.4 ## choose slightly less than the base's capability
+  max_trans_vel: 0.3 ## choose slightly less than the base's capability
   min_trans_vel: 0.1  ## this is the min trans velocity when there is negligible rotational velocity
   trans_stopped_vel: 0.1
 

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