more conservative obstacle avoidance

wvu-navLab · Sep 18, 2020 · 1897d1c · 1897d1c
1 parent 729309a
commit 1897d1c
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/config/scout_costmap_common.yaml b/config/scout_costmap_common.yaml
@@ -27,7 +27,7 @@ obstacles_laser:
 #     scan: {sensor_frame: scout_1_tf/hokuyo_link, data_type: LaserScan, topic: /scout_1/laser/scan, marking: true, clearing: true}
 
 inflation:
-    inflation_radius: 1.75 #2.0
+    inflation_radius: 2.0 #2.0
     cost_scaling_factor: 1.25 #1.08
 
 inflation1:

diff --git a/config/scout_planner.yaml b/config/scout_planner.yaml
@@ -52,7 +52,7 @@ DWAPlannerROS_SRC:
   # # Trajectory scoring parameters
   path_distance_bias: 32 #12.0 # The weighting for how much the controller should stay close to the path it was given
   goal_distance_bias: 20 #10.0 # The weighting for how much the controller should attempt to reach its local goal, also controls speed
-  occdist_scale: 1.02 #0.51 # The weighting for how much the controller should attempt to avoid obstacles
+  occdist_scale: 1.2 #0.51 # The weighting for how much the controller should attempt to avoid obstacles
   forward_point_distance: 0.625 #0.325 The distance from the center point of the robot to place an additional scoring point, in meters
   stop_time_buffer: 0.3  # The amount of time that the robot must stThe absolute value of the veolicty at which to start scaling the robot's footprint, in m/sop before a collision in order for a trajectory to be considered valid in seconds
   scaling_speed: 0.25 # The absolute value of the veolicty at which to start scaling the robot's footprint, in m/s