From 6d3af679a9d7969695539d2168ae972067276066 Mon Sep 17 00:00:00 2001 From: QUYVN Date: Wed, 18 Mar 2026 07:38:51 +0000 Subject: [PATCH] add max speed --- config/pnkx_local_planner_params.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/config/pnkx_local_planner_params.yaml b/config/pnkx_local_planner_params.yaml index 9b3aa9d..170f5c4 100644 --- a/config/pnkx_local_planner_params.yaml +++ b/config/pnkx_local_planner_params.yaml @@ -41,8 +41,8 @@ PNKXRotateLocalPlanner: LimitedAccelGenerator: library_path: libmkt_plugins_standard_traj_generator - max_vel_x: 0.2 - min_vel_x: -0.2 + max_vel_x: 1.0 + min_vel_x: -1.0 max_vel_y: 0.0 # diff drive robot min_vel_y: 0.0 # diff drive robot @@ -50,7 +50,7 @@ LimitedAccelGenerator: 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 - max_vel_theta: 0.7 # max_rot_vel: 1.0 # choose slightly less than the base's capability + 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 acc_lim_x: 1.5