Added rotate acorn and misc changes to approach acorns

2026-04-15 11:17:36 +02:00
parent 773411951d
commit 1558ca1217
6 changed files with 344 additions and 18 deletions
--- a/toid_navigation/params/toid_general_params.yaml
+++ b/toid_navigation/params/toid_general_params.yaml
@@ -37,6 +37,10 @@ behavior_server:
      plugin: "toid::MoveCoords"
    approachAcorns:
      plugin: "toid::ApproachAcorns"
+      kphi: 2.0
+      kdelta: 1.0
+      lambda: 2.0
+      debug_marker: true
    local_frame: map
    global_frame: map
    robot_base_frame: base_footprint