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A goal checker is needed in teb_params.yaml of Galactic #397

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tosa-no-onchan opened this issue Jan 21, 2023 · 0 comments
Open

A goal checker is needed in teb_params.yaml of Galactic #397

tosa-no-onchan opened this issue Jan 21, 2023 · 0 comments

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@tosa-no-onchan
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Hi.
I found a goal checker plugin is needed in a sample yaml teb_params.yaml of Galactic.

https://github.com/rst-tu-dortmund/teb_local_planner/blob/galactic/teb_local_planner/params/teb_params.yaml

controller_server:
ros__parameters:
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
general_goal_checker:
stateful: True
plugin: "nav2_controller::SimpleGoalChecker"
#xy_goal_tolerance: 0.25
# changed by nishi
xy_goal_tolerance: 0.05
#yaw_goal_tolerance: 0.25
# changed by nishi
yaw_goal_tolerance: 0.08
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@tosa-no-onchan