From 73bdc265aa93c8ddcee893f1c63f8db50faeb74e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 12 Aug 2022 01:17:11 +0200
Subject: [PATCH] adjust config
---
.../local_planner_config/TimedElasticBands/default.json | 7 ++++---
1 file changed, 4 insertions(+), 3 deletions(-)
diff --git a/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
index e2c40a1b..4b298708 100644
--- a/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
+++ b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
@@ -1,6 +1,7 @@
{
- "robot_footprint_radius": 0.2,
- "planning_distance": 2,
+ "robot_footprint_radius": 0.5,
+ "planning_distance": 3,
+
"teb_config": {
"pse": {
"pse_costum_obstacle_penalties": true,
@@ -45,7 +46,7 @@
},
"obstacles": {
- "min_obstacle_dist": 0.5,
+ "min_obstacle_dist": 0.3,
"inflation_dist": 0.0,
"dynamic_obstacle_inflation_dist": 0.6,
"include_dynamic_obstacles": true,
--
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