Adjusted min radius for kraken URDF values

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

kraken_nav/launch/config/navigation_params.yaml

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