more tuning

config/scout_costmap_common.yaml

@@ -8,8 +8,8 @@ transform_tolerance: 0.5
 
 resolution: 0.05 #0.2
 
-obstacle_range: 15 #10.5
-raytrace_range: 12.0
+obstacle_range: 14 #10.5
+raytrace_range: 15.0
 
 #layer definitions
 static:
@@ -19,7 +19,7 @@ static:
 obstacles_laser:
     observation_sources: laser
     laser: {data_type: PointCloud2, clearing: true, marking: true, topic: /scout_1/inference/point_cloud_filtered
-, max_obstacle_height: 1.5, min_obstacle_height: 0.01, obstacle_range: 15.0, raytrace_range: 12.0}
+, max_obstacle_height: 1.5, min_obstacle_height: 0.01, obstacle_range: 14.0, raytrace_range: 15.0}
 #     laser: {data_type: PointCloud2, clearing: true, marking: true, topic: /scout_1/inference/point_cloud_filtered
 # , max_obstacle_height: 12.5, min_obstacle_height: 0.01, obstacle_range: 15.0, raytrace_range: 12.0}
 # obstacles_scan:

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: 0.02 #0.51 # The weighting for how much the controller should attempt to avoid obstacles
+  occdist_scale: 1.02 #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