HiepLM/pnkx_nav_core
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fix

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HiepLM
2026-03-26 14:42:26 +07:00
parent ba503eca85
commit 58d925f2be
3 changed files with 43 additions and 39 deletions
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12
config/pnkx_local_planner_params.yaml
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@@ -106,8 +106,8 @@ MKTAlgorithmDiffPredictiveTrajectory:
angular_decel_zone: 0.1
# stoped
rot_stopped_velocity: 0.05
trans_stopped_velocity: 0.06
rot_stopped_velocity: 0.03
trans_stopped_velocity: 0.03
use_final_heading_alignment: true
final_heading_xy_tolerance: 0.1
@@ -143,8 +143,8 @@ MKTAlgorithmDiffGoStraight:
angular_decel_zone: 0.1
# stoped
rot_stopped_velocity: 0.05
trans_stopped_velocity: 0.06
rot_stopped_velocity: 0.03
trans_stopped_velocity: 0.03
use_final_heading_alignment: true
final_heading_xy_tolerance: 0.1
@@ -180,8 +180,8 @@ MKTAlgorithmDiffRotateToGoal:
angular_decel_zone: 0.1
# stoped
rot_stopped_velocity: 0.05
trans_stopped_velocity: 0.06
rot_stopped_velocity: 0.03
trans_stopped_velocity: 0.03
use_final_heading_alignment: true
final_heading_xy_tolerance: 0.1