From b63a6c0e677e188f0abe5885d1d9b4aa75d26875 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Thu, 11 Aug 2022 20:05:22 +0200
Subject: [PATCH] Fix config parameters
Upstream merge of teb_local_planner added a new parameter.
Other parameter is only used when an initial plan is used which we do not do.
---
.../local_planner_config/TimedElasticBands/default.json | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
index 33389b94..ed871ab9 100644
--- a/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
+++ b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
@@ -29,6 +29,7 @@
"max_vel_x": 0.4,
"max_vel_x_backwards": 0.2,
"max_vel_y": 0.0,
+ "max_vel_trans": 0.5,
"max_vel_theta": 0.3,
"acc_lim_x": 0.5,
"acc_lim_y": 0.5,
@@ -86,7 +87,6 @@
"max_number_classes": 5,
"max_number_plans_in_current_class": 0,
"selection_cost_hysteresis": 1.0,
- "selection_prefer_initial_plan": 0.95,
"selection_obst_cost_scale": 100.0,
"selection_viapoint_cost_scale": 1.0,
"selection_alternative_time_cost": false,
--
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