From 232c2cef1aedcfb1f650ecc2d5186f33b55ef232 Mon Sep 17 00:00:00 2001 From: Nathan Wright Date: Mon, 16 Aug 2021 08:53:34 -0400 Subject: [PATCH] slowed robot speed to make gazebo mapping more accurate --- stretch_rtab/config/3d/base_local_planner_params.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/stretch_rtab/config/3d/base_local_planner_params.yaml b/stretch_rtab/config/3d/base_local_planner_params.yaml index 12418f8..90a6336 100644 --- a/stretch_rtab/config/3d/base_local_planner_params.yaml +++ b/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