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@@ -1,7 +1,9 @@
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bt_navigator:
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ros__parameters:
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use_sim_time: True
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- default_nav_to_pose_bt_xml: "bt.xml"
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+ # Set global path to bt.xml from this package
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+ # TODO - do it in launcher
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+ # default_nav_to_pose_bt_xml: "bt.xml"
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global_frame: map
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robot_base_frame: base_link
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odom_topic: /odom
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@@ -86,7 +88,7 @@ controller_server:
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max_allowed_time_to_collision_up_to_carrot: 1.0
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use_regulated_linear_velocity_scaling: true
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use_cost_regulated_linear_velocity_scaling: true
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- regulated_linear_scaling_min_radius: 3.6
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+ regulated_linear_scaling_min_radius: 5.6
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regulated_linear_scaling_min_speed: 0.20
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use_rotate_to_heading: false
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rotate_to_heading_min_angle: 0.785
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Michał Pełka