New params to work better in unknown map

New params to work better in unknown map

butia_navigation_description/config/param/dwa_local_planner_params.yaml

@@ -8,25 +8,25 @@ DWAPlannerROS:
   min_vel_y: 0.0  # diff drive robot
 
   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
+  min_trans_vel: 0.05  ## this is the min trans velocity when there is negligible rotational velocity
+  trans_stopped_vel: 0.02
 
   # Warning!
   #   do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities
   #   are non-negligible and small in place rotational velocities will be created.
 
   max_rot_vel: 0.6  ## choose slightly less than the base's capability
   min_rot_vel: 0.05  ## this is the min angular velocity when there is negligible translational velocity
-  rot_stopped_vel: 0.2  ##
+  rot_stopped_vel: 0.02  ##
 
   acc_lim_x: 1.0 # maximum is theoretically 2.0, but we 
   acc_lim_th: 0.5
   acc_lim_y: 0.0      # diff drive robot
 
 # Goal Tolerance Parameters
   yaw_goal_tolerance: 0.15
-  xy_goal_tolerance: 0.10
-  latch_xy_goal_tolerance: true  # simply rotate after reaching xy, even if it ends up outside the tolerance after doing so
+  xy_goal_tolerance: 0.15
+  latch_xy_goal_tolerance: false  # simply rotate after reaching xy, even if it ends up outside the tolerance after doing so
 
 # Forward Simulation Parameters
   sim_time: 1.0       # 1.7