HiepLM/pnkx_nav_core
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add max speed

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This commit is contained in:
QUYVN
2026-03-18 07:38:51 +00:00
parent 1c12239478
commit 6d3af679a9
1 changed files with 3 additions and 3 deletions
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6
config/pnkx_local_planner_params.yaml
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@@ -41,8 +41,8 @@ PNKXRotateLocalPlanner:
LimitedAccelGenerator: LimitedAccelGenerator:
library_path: libmkt_plugins_standard_traj_generator library_path: libmkt_plugins_standard_traj_generator
max_vel_x: 0.2 max_vel_x: 1.0
min_vel_x: -0.2 min_vel_x: -1.0
max_vel_y: 0.0 # diff drive robot max_vel_y: 0.0 # diff drive robot
min_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 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: 0.25 # 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 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 acc_lim_x: 1.5