update

2025-12-16 16:18:35 +07:00
parent a06beb70b8
commit 89f435633c
47 changed files with 600 additions and 881 deletions
--- a/config/mprim/costmap_common_params.yaml
+++ b/config/mprim/costmap_common_params.yaml
--- a/config/mprim/costmap_global_params.yaml
+++ b/config/mprim/costmap_global_params.yaml
--- a/config/mprim/costmap_global_params_plugins_no_virtual_walls.yaml
+++ b/config/mprim/costmap_global_params_plugins_no_virtual_walls.yaml
--- a/config/mprim/costmap_local_params.yaml
+++ b/config/mprim/costmap_local_params.yaml
--- a/config/mprim/move_base_common_params.yaml
+++ b/config/mprim/move_base_common_params.yaml
--- a/config/mprim/pnkx_local_planner_params.yaml
+++ b/config/mprim/pnkx_local_planner_params.yaml
@@ -4,7 +4,7 @@ docking_planner_name: PNKXDockingLocalPlanner
 go_straight_planner_name: PNKXGoStraightLocalPlanner
 rotate_planner_name: PNKXRotateLocalPlanner

-base_local_planner: nav_core_adapter::LocalPlannerAdapter
+base_local_planner: LocalPlannerAdapter
 yaw_goal_tolerance: 0.017  
 xy_goal_tolerance: 0.03 
 min_approach_linear_velocity: 0.06   # The minimum velocity (m/s) threshold to apply when approaching the goal to ensure progress. Must be > 0.01. (default: 0.05)
--- a/config/mprim/two_points_global_params.yaml
+++ b/config/mprim/two_points_global_params.yaml