Merge pull request #74 from UbiquityRobotics/move_basic_update

Add params for PID control of lateral error
UbiquityRobotics · Feb 23, 2019 · ecfd9bd · ecfd9bd
2 parents 0629789 + 570bf2e
commit ecfd9bd
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/magni_nav/launch/move_basic.launch b/magni_nav/launch/move_basic.launch
@@ -4,5 +4,10 @@
         <param name="robot_width" value="0.20"/>
         <param name="robot_front_length" value="0.1"/>
         <param name="robot_back_length" value="0.32"/>
+
+        <!-- lateral control -->
+        <param name="lateral_kp" value="1.0"/>
+        <param name="lateral_ki" value="0"/>
+        <param name="lateral_kd" value="50.0"/>
     </node>
 </launch>