Update nav2_params and adjust motor speed coefficients

TheNoobInventor · Feb 17, 2024 · 8ca9a2b · 8ca9a2b
1 parent 00a75ed
commit 8ca9a2b
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/lidarbot_base/src/motor_encoder.c b/lidarbot_base/src/motor_encoder.c
@@ -57,8 +57,8 @@ void set_motor_speeds(double left_wheel_command, double right_wheel_command)
     DIR right_motor_direction;
 
     // Tune motor speeds by adjusting the command coefficients. These are dependent on the number of encoder ticks. 3000 ticks and above work well with coefficients of 1.0
-    double left_motor_speed = ceil(left_wheel_command * 1.75);
-    double right_motor_speed = ceil(right_wheel_command * 1.75);
+    double left_motor_speed = ceil(left_wheel_command * 1.65);
+    double right_motor_speed = ceil(right_wheel_command * 1.65);
 
     // Set motor directions
     if(left_motor_speed > 0) 

diff --git a/lidarbot_navigation/config/nav2_params.yaml b/lidarbot_navigation/config/nav2_params.yaml
@@ -196,7 +196,7 @@ local_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0
-        inflation_radius: 0.75
+        inflation_radius: 0.40
       voxel_layer:
         plugin: "nav2_costmap_2d::VoxelLayer"
         enabled: True
@@ -254,7 +254,7 @@ global_costmap:
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0
-        inflation_radius: 0.75
+        inflation_radius: 0.40
       always_send_full_costmap: True
 
 map_server: