update 24/2

config/pnkx_local_planner_params.yaml

@@ -53,10 +53,10 @@ LimitedAccelGenerator:
   max_vel_theta: 0.7   # 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: 1.0
+  acc_lim_x: 1.5
   acc_lim_y: 0.0      # diff drive robot
   acc_lim_theta: 1.5
-  decel_lim_x: -1.0
+  decel_lim_x: -1.5
   decel_lim_y: -0.0
   decel_lim_theta: -1.5
 
@@ -88,7 +88,7 @@ MKTAlgorithmDiffPredictiveTrajectory:
   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: 0.2                    # Minimum squared journey to consider for goal (default: 0.2) 
-  max_journey_squared: 0.8                    # Maximum 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)
 
   # Rotate to heading param - onle one of use_rotate_to_heading and allow_reversing can be set to true
@@ -105,7 +105,9 @@ MKTAlgorithmDiffPredictiveTrajectory:
   final_heading_xy_tolerance: 0.1
   final_heading_angle_tolerance: 0.05
   final_heading_min_velocity: 0.05
-  final_heading_kp_angular: 2.0
+  final_heading_kp_angular: 1.2
+  final_heading_ki_angular: 0.002
+  final_heading_kd_angular: 0.12
 
 MKTAlgorithmDiffGoStraight:
   library_path: libmkt_algorithm_diff
@@ -140,7 +142,9 @@ MKTAlgorithmDiffGoStraight:
   final_heading_xy_tolerance: 0.1
   final_heading_angle_tolerance: 0.05
   final_heading_min_velocity: 0.05
-  final_heading_kp_angular: 2.0
+  final_heading_kp_angular: 1.5
+  final_heading_ki_angular: 0.2
+  final_heading_kd_angular: 0.05
 
 MKTAlgorithmDiffRotateToGoal:
   library_path: libmkt_algorithm_diff
@@ -176,6 +180,9 @@ MKTAlgorithmDiffRotateToGoal:
   final_heading_angle_tolerance: 0.05
   final_heading_min_velocity: 0.05
   final_heading_kp_angular: 2.0
+  near_goal_heading_kp: 1.5
+  near_goal_heading_ki: 0.0
+  near_goal_heading_kd: 0.0
   
 GoalChecker:
   library_path: libmkt_plugins_goal_checker