set correct parameters for base_local_planner

jsk-ros-pkg · Oct 21, 2019 · e8656d8 · e8656d8
1 parent 183448f
commit e8656d8
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -202,7 +202,13 @@
     <rosparam ns="move_base">
       base_local_planner: base_local_planner/TrajectoryPlannerROS
       TrajectoryPlannerROS:
+        min_in_place_vel_theta: 0.8
         escape_vel: -0.1 # -0.1
+        meter_scoring: true
+        pdist_scale: 5.0
+        gdist_scale: 3.2
+        occdist_scale: 0.1
+        dwa: true
       recovery_behavior_enabled: true
       recovery_behaviors:
         - name: "conservative_reset"