From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 15 Jul 2025 07:27:46 +0000 (-0300)
Subject: Fix velocity limits in twil_2dnav/config/controller_params.yaml.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;ds=sidebyside;p=twil.git

Fix velocity limits in twil_2dnav/config/controller_params.yaml.
---

diff --git a/twil_2dnav/config/controller_params.yaml b/twil_2dnav/config/controller_params.yaml
index 406bfd4..bf0bb29 100644
--- a/twil_2dnav/config/controller_params.yaml
+++ b/twil_2dnav/config/controller_params.yaml
@@ -27,18 +27,18 @@ controller_server:
       time_steps: 56
       model_dt: 0.05
       batch_size: 2000
-      ax_max: 3.0
-      ax_min: -3.0
-      ay_max: 3.0
-      ay_min: -3.0
-      az_max: 3.5
-      vx_std: 0.2
-      vy_std: 0.2
-      wz_std: 0.4
-      vx_max: 0.5
-      vx_min: -0.35
-      vy_max: 0.5
-      wz_max: 1.9
+      ax_max: 30.0
+      ax_min: -30.0
+      ay_max: 30.0
+      ay_min: -30.0
+      az_max: 35.0
+      vx_std: 2.0
+      vy_std: 2.0
+      wz_std: 4.0
+      vx_max: 5.0
+      vx_min: -3.55
+      vy_max: 5.0
+      wz_max: 19.0
       iteration_count: 1
       prune_distance: 1.7
       transform_tolerance: 0.1