Further improvements

Signed-off-by: Michał Pełka <[email protected]>

kraken_nav/launch/config/navigation_params.yaml

@@ -212,7 +212,7 @@ planner_server:
       angle_quantization_bins: 64         # For Hybrid nodes: Number of angle bins for search, must be 1 for 2D node (no angle search)
       analytic_expansion_ratio: 3.5       # For Hybrid/Lattice nodes: The ratio to attempt analytic expansions during search for final approach.
       analytic_expansion_max_length: 3.0    # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting (in meters). This should be scaled with minimum turning radius and be no less than 4-5x the minimum radius
-      minimum_turning_radius: 2.37        # For Hybrid/Lattice nodes: minimum turning radius in m of path / vehicle
+      minimum_turning_radius: 4.3        # For Hybrid/Lattice nodes: minimum turning radius in m of path / vehicle
       reverse_penalty: 2.1                # For Reeds-Shepp model: penalty to apply if motion is reversing, must be => 1
       change_penalty: 0.0                 # For Hybrid nodes: penalty to apply if motion is changing directions, must be >= 0
       non_straight_penalty: 2.30          # For Hybrid nodes: penalty to apply if motion is non-straight, must be => 1

kraken_nav/launch/slam.launch.py

@@ -23,7 +23,7 @@ def generate_launch_description():
             parameters=[{
                 'min_height': 0.2,
                 'max_height': 3.4,
-                'range_min': 0.1
+                'range_min': 0.2
             }],
             remappings=[
                 ('/cloud_in', '/pc'),

kraken_nav/setup.py

@@ -12,7 +12,9 @@ setup(
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         ('share/' + package_name + "/launch/config", glob('launch/config/*.yaml')),
+        ('share/' + package_name + "/launch/config", glob('launch/config/*.xml')),
         ('share/' + package_name + "/launch", glob('launch/*.launch.py')),
+        ('share/' + package_name + "/launch", glob('launch/*.xml')),
     ],
     install_requires=['setuptools'],
     zip_safe=True,