slowed robot speed to make gazebo mapping more accurate

stretch_rtab/config/3d/base_local_planner_params.yaml

@@ -39,14 +39,14 @@ TrajectoryPlannerROS:
 
 DWAPlannerROS:
   #vel params
-  max_vel_x: 0.6 #safe speed for fetch to travel at
+  max_vel_x: 0.3 #safe speed for fetch to travel at
   min_vel_x: 0
-  max_vel_trans: 0.6
-  min_vel_trans: 0.1
+  max_vel_trans: 0.3
+  min_vel_trans: 0
   max_vel_y: 0  #diff drive
   min_vel_y: 0
   max_vel_theta: 1.5
-  min_vel_theta: 0.4
+  min_vel_theta: -1.5
 
   #accel params
   acc_lim_x: 0.7