improved vel and acc limits

champ_config/config/move_base/base_local_planner_holonomic_params.yaml

@@ -1,39 +1,46 @@
 DWAPlannerROS:
-  max_trans_vel: 0.5
-  min_trans_vel: 0.01
-  max_vel_x: 0.5
+  #http://wiki.ros.org/dwa_local_planner
+
+  min_vel_trans: 0.01
+  max_vel_trans: 0.5
+
   min_vel_x: -0.025
-  max_vel_y: 0.0
+  max_vel_x: 0.5
+
   min_vel_y: 0.0
-  max_rot_vel: 0.4
-  min_rot_vel: -0.4
-  acc_lim_x: 2.0
+  max_vel_y: 0.0
+
+  max_vel_rot: 1.0
+  min_vel_rot: -1.0
+
+  acc_lim_trans: 1.7
+  acc_lim_x: 1.7
   acc_lim_y: 0.0
-  acc_lim_theta: 4
-  acc_lim_trans: 3.0
+  acc_lim_theta: 3
 
-  prune_plan: false
+  trans_stopped_vel: 0.1
+  theta_stopped_vel: 0.1
 
   xy_goal_tolerance: 0.25
-  yaw_goal_tolerance: 0.1
-  trans_stopped_vel: 0.1
-  rot_stopped_vel: 0.1
-  sim_time: 3.0
+  yaw_goal_tolerance: 0.34
+
+  sim_time: 3.5
   sim_granularity: 0.1
-  angular_sim_granularity: 0.1
+  vx_samples: 20
+  vy_samples: 0
+  vth_samples: 40
+
   path_distance_bias: 34.0
   goal_distance_bias: 24.0
   occdist_scale: 0.05
-  twirling_scale: 0.0
-  stop_time_buffer: 0.5
-  oscillation_reset_dist: 0.05
-  oscillation_reset_angle: 0.2
+
   forward_point_distance: 0.2
+  stop_time_buffer: 0.5
   scaling_speed: 0.25
   max_scaling_factor: 0.2
-  vx_samples: 20
-  vy_samples: 0
-  vth_samples: 40
+
+  oscillation_reset_dist: 0.05
 
   use_dwa: true
-  restore_defaults: true
+
+  prune_plan: false