tune parameters

Author: cl03

bitbots_behavior/bitbots_body_behavior/config/body_behavior.yaml

@@ -104,7 +104,7 @@ body_behavior:
     goalpost_safety_distance: 0.05
 
     # Distance at which the ball is first approached before the ball obstacle is deactivated and we approach closer for the kick
-    ball_far_approach_dist: 0.5
+    ball_far_approach_dist: 0.3
 
     # Range in which the ball far approach point is counted as reached
     ball_far_approach_position_thresh: 0.2
@@ -113,14 +113,14 @@ body_behavior:
     ball_reapproach_dist: 1.0
 
     # Distance at which the ball is normally approached
-    ball_approach_dist: 0.20
+    ball_approach_dist: 0.2                                                          
 
     # Angle at which the ball is normally approached again
     ball_reapproach_angle: 1.2
 
     # The position where the supporter robot should place itself in order to accept a pass
     pass_position_x: 0.1
-    pass_position_y: 1.0
+    pass_position_y: 1.0                                                                                                                                                                                                                                                                                                                                               
     supporter_max_x: 4.0
 
     # maximal angle of a ball kick

bitbots_navigation/bitbots_path_planning/config/path_planning_parameters.yaml

@@ -66,7 +66,7 @@ bitbots_path_planning:
         read_only: true
       blur:
         type: int
-        default_value: 13
+        default_value: 11
         description: 'The blur value for the inflation'
         read_only: true
 
@@ -121,7 +121,7 @@ bitbots_path_planning:
         bounds<>: [0.0, 1.0]
     translation_slow_down_factor:
       type: double
-      default_value: 0.5
+      default_value: 1.0
       description: 'Clamped p gain of the translation controller'
       validation:
         bounds<>: [0.0, 1.0]

bitbots_world_model/bitbots_robot_filter/config/params.yaml

@@ -6,7 +6,7 @@ bitbots_robot_filter:
     robots_publish_topic: 'robots_relative_filtered'
 
     filter_frame: 'map'
-    robot_dummy_size: 0.4
+    robot_dummy_size: 0.6
     robot_merge_distance: 0.5
     robot_storage_time: 10e9
     team_data_timeout: 1e9