From 1bf7b86e589dc55fddf3232aab8ea61185897e7a Mon Sep 17 00:00:00 2001 From: Adam Aposhian Date: Mon, 21 Mar 2022 10:44:28 -0600 Subject: [PATCH 1/3] update dwb prune_distance default --- configuration/packages/dwb-params/controller.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/configuration/packages/dwb-params/controller.rst b/configuration/packages/dwb-params/controller.rst index 585d2f4e76..b21b075646 100644 --- a/configuration/packages/dwb-params/controller.rst +++ b/configuration/packages/dwb-params/controller.rst @@ -57,7 +57,7 @@ Parameters ====== ======= Type Default ------ ------- - double 1.0 + double 2.0 ====== ======= Description From e0faba0ed37c3ee7a73e107d01c9c22129a0b4e6 Mon Sep 17 00:00:00 2001 From: Adam Aposhian Date: Mon, 21 Mar 2022 10:57:55 -0600 Subject: [PATCH 2/3] add max_robot_pose_search_dist --- configuration/packages/configuring-regulated-pp.rst | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/configuration/packages/configuring-regulated-pp.rst b/configuration/packages/configuring-regulated-pp.rst index 26a61e0d0b..52c15ea932 100644 --- a/configuration/packages/configuring-regulated-pp.rst +++ b/configuration/packages/configuring-regulated-pp.rst @@ -222,6 +222,17 @@ Regulated Pure Pursuit Parameters Description Maximum allowable angular acceleration (rad/s/s) while rotating to heading, if ``use_rotate_to_heading`` is ``true``. +:max_robot_pose_search_dist: + + ============== ============================= + Type Default + -------------- ----------------------------- + double Local costmap max extent (max(width, height) / 2) + ============== ============================= + + Description + Upper bound on integrated distance along the global plan to search for the closest pose to the robot pose. This should be left as the default unless there are paths with loops and intersections that do not leave the local costmap, in which case making this value smaller is necessary to prevent shortcutting. + Example ******* .. code-block:: yaml @@ -266,3 +277,4 @@ Example allow_reversing: false rotate_to_heading_min_angle: 0.785 max_angular_accel: 3.2 + max_robot_pose_search_dist: 10.0 From b527cbedd2b94a547997afa01137fafc9e36fc8a Mon Sep 17 00:00:00 2001 From: Adam Aposhian Date: Mon, 21 Mar 2022 11:10:39 -0600 Subject: [PATCH 3/3] formatting --- configuration/packages/configuring-regulated-pp.rst | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/configuration/packages/configuring-regulated-pp.rst b/configuration/packages/configuring-regulated-pp.rst index 52c15ea932..46cb9727fa 100644 --- a/configuration/packages/configuring-regulated-pp.rst +++ b/configuration/packages/configuring-regulated-pp.rst @@ -224,11 +224,11 @@ Regulated Pure Pursuit Parameters :max_robot_pose_search_dist: - ============== ============================= + ============== ================================================= Type Default - -------------- ----------------------------- + -------------- ------------------------------------------------- double Local costmap max extent (max(width, height) / 2) - ============== ============================= + ============== ================================================= Description Upper bound on integrated distance along the global plan to search for the closest pose to the robot pose. This should be left as the default unless there are paths with loops and intersections that do not leave the local costmap, in which case making this value smaller is necessary to prevent shortcutting.