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Increase default w_smooth to 2M for Constrained Smoother #385

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Merged
SteveMacenski merged 1 commit into from
Jan 12, 2023
Merged

Increase default w_smooth to 2M for Constrained Smoother #385

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4 changes: 2 additions & 2 deletions configuration/packages/configuring-constrained-smoother.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,7 @@ Smoother Server Parameters
============== ===========================
Type Default
-------------- ---------------------------
double 15000.0
double 2000000.0
============== ===========================

Description
Expand Down Expand Up @@ -271,7 +271,7 @@ Example
minimum_turning_radius: 0.40 # minimum turning radius the robot can perform. Can be set to 0.0 (or w_curve can be set to 0.0 with the same effect) for diff-drive/holonomic robots
w_curve: 30.0 # weight to enforce minimum_turning_radius
w_dist: 0.0 # weight to bind path to original as optional replacement for cost weight
w_smooth: 15000.0 # weight to maximize smoothness of path
w_smooth: 2000000.0 # weight to maximize smoothness of path
w_cost: 0.015 # weight to steer robot away from collision and cost

# Parameters used to improve obstacle avoidance near cusps (forward/reverse movement changes)
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