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# Move base node parameters. For full documentation of the parameters in this file, please see
#
# http://www.ros.org/wiki/move_base
#
shutdown_costmaps: false
controller_frequency: 2.0
controller_patience: 3.0
planner_frequency: 1.0
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
#base_local_planner: "dwa_local_planner/DWAPlannerROS"
base_local_planner: "teb_local_planner/TebLocalPlannerROS"
base_global_planner: "navfn/NavfnROS"
recovery_behaviors:
- name: 'conservative_reset'
type: 'clear_costmap_recovery/ClearCostmapRecovery'
- name: 'aggressive_reset'
type: 'clear_costmap_recovery/ClearCostmapRecovery'
conservative_reset:
reset_distance: 0.1
layer_names: ['obstacle_layer']
aggressive_reset:
reset_distance: 0.0
layer_names: ['obstacle_layer']