From d56f1cd7d9b4c0b8964049a6b3874e8e1c803064 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 01:48:00 +0200
Subject: [PATCH] Adjust default config
---
.../local_planner_config/TimedElasticBands/default.json | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
index 4b298708..0dcf777b 100644
--- a/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
+++ b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
@@ -6,7 +6,7 @@
"pse": {
"pse_costum_obstacle_penalties": true,
"pse_costum_obstacle_penalties_dynamic": true,
- "weight_global_path": 0.1,
+ "weight_global_path": 0.3,
"lrk_use_alternative_approach": false,
"lrk_enable_collision_check": true,
"hybrid_homotopy_calculation": true,
@@ -73,7 +73,7 @@
"weight_kinematics_forward_drive": 1,
"weight_kinematics_turning_radius": 1,
"weight_optimaltime": 1,
- "weight_shortest_path": 0,
+ "weight_shortest_path": 1,
"weight_obstacle": 50,
"weight_inflation": 0.1,
"weight_dynamic_obstacle": 50,
--
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