Added collision avoidance to MoveGlobal routine

2025-05-05 01:34:53 +02:00
parent a160af8de3
commit ccfd1189c2
30 changed files with 792 additions and 33 deletions
--- a/mg_msgs/action/MoveGlobal.action
+++ b/mg_msgs/action/MoveGlobal.action
@ -1,15 +1,15 @@
 float64[] x 
 float64[] y 

-float64 step 0.01
-float64 tolerance 0.5
+float64 step 0.1
+float64 tolerance 0.05
 float64 max_wheel_speed 3
 float64 max_angular 3.14
-float64 max_vel 2
+float64 max_vel 4
 float64 pos_mult 15
 float64 ornt_mult 4
 float64 t_ornt_mult 0.1
-float64 obst_mult_a -5
+float64 obst_mult_a 50
 float64 obst_mult_b -30
 float64 obst_mult_c -9
 string[] ignore_tags []