HiepLM/pnkx_nav_core
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fix lỗi xoay khi về đích

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HiepLM
2026-04-27 14:24:40 +07:00
parent 1a19e38b2d
commit 62a2fed488
3 changed files with 4 additions and 4 deletions
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4
config/pnkx_local_planner_params.yaml
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@@ -1,5 +1,5 @@
yaw_goal_tolerance: 0.02
xy_goal_tolerance: 0.02
xy_goal_tolerance: 0.03
min_approach_linear_velocity: 0.05
LocalPlannerAdapter:
@@ -95,7 +95,7 @@ MKTAlgorithmDiffPredictiveTrajectory:
min_lookahead_dist: 0.6 # The minimum lookahead distance (m) threshold. (default: 0.3)
max_lookahead_dist: 2.0 # The maximum lookahead distance (m) threshold. (default: 0.9)
lookahead_time: 1.9 # The time (s) to project the velocity by, a.k.a. lookahead gain. (default: 1.5)
min_journey_squared: 0.35 # Minimum squared journey to consider for goal (default: 0.2)
min_journey_squared: 0.2 # Minimum squared journey to consider for goal (default: 0.2)
max_journey_squared: 0.5 # Maximum squared journey to consider for goal (default: 0.2)
max_lateral_accel: 0.9 # Max lateral accel for speed reduction on curves (m/s^2)