HiepLM/pnkx_nav_core
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update docking

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This commit is contained in:
hoangson02
2026-03-25 09:09:58 +00:00
parent 37c7707582
commit 3944447b4d
6 changed files with 15 additions and 13 deletions
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4
config/hybrid_local_planner_params.yaml
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@@ -31,8 +31,8 @@ HybridLocalPlanner:
# GoalTolerance
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.07
xy_goal_tolerance: 0.05
yaw_goal_tolerance: 0.05
# Optimization

2
config/pnkx_local_planner_params.yaml
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@@ -48,7 +48,7 @@ LimitedAccelGenerator:
min_vel_y: 0.0 # diff drive robot
max_speed_xy: 2.0 # max_trans_vel: 0.8 # choose slightly less than the base's capability
min_speed_xy: 0.25 # min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity
min_speed_xy: 0.15 # min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity
max_vel_theta: 0.4 # max_rot_vel: 1.0 # choose slightly less than the base's capability
min_vel_theta: 0.05 # min_rot_vel: 0.1 default: 0.4 # this is the min angular velocity when there is negligible translational velocity