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Completed implementation of initial rotate behavior

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pimpest
2026-02-27 14:24:15 +01:00
parent 969ceae6f8
commit 29516efd0d
4 changed files with 27 additions and 8 deletions
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10
toid_navigation/params/toid_general_params.yaml
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@@ -21,20 +21,22 @@ behavior_server:
global_costmap_topic: global_costmap/costmap_raw
local_footprint_topic: local_costmap/published_footprint
global_footprint_topic: global_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["backup", "spin", "drive_on_heading", "assisted_teleop", "wait"]
cycle_frequency: 50.0
behavior_plugins: ["backup", "spin", "drive_on_heading", "assisted_teleop", "wait", "rotate"]
spin:
plugin: "nav2_behaviors::Spin"
backup:
plugin: "nav2_behaviors::BackUp"
enable_stamped_cmd_vel: true
simulate_ahead_time: 0.2
drive_on_heading:
plugin: "nav2_behaviors::DriveOnHeading"
wait:
plugin: "nav2_behaviors::Wait"
assisted_teleop:
plugin: "nav2_behaviors::AssistedTeleop"
rotate:
plugin: "toid::SimpleRotateBehavior"
max_angular_accel: 4.0
max_angular_decel: 1.0
local_frame: map
global_frame: map
robot_base_frame: base_footprint