Tuned nav_stack params

my_robot/config/base_local_planner_params.yaml

@@ -1,29 +1,29 @@
 controller_frequency: 10
 
 TrajectoryPlannerROS:
-  max_vel_x: 1.0 #0.5
+  max_vel_x: 1.5 #0.5
   min_vel_x: -0.1 #0.01
-  max_vel_theta: 1.57 #1.5
+  max_vel_theta: 0.785398 #1.5
 
   min_in_place_vel_theta: 0.314
 
-  acc_lim_theta: 3.14
-  acc_lim_x: 2.0
-  acc_lim_y: 2.0
+  acc_lim_theta: 1.5708
+  acc_lim_x: 1.5708
+  acc_lim_y: 1.5708
 
-  sim_time: 1.0
+  sim_time: 4.0
 
   vx_samples: 4.0
   vtheta_samples: 50.0
 
-  pdist_scale: 20.0 #0.6
-  gdist_scale: 0.1 #0.8
+  pdist_scale: 0.6 #0.6
+  gdist_scale: 0.8 #0.8
   occdist_scale: 0.2
 
   heading_scoring: false
   # heading_lookahead: 1.0
   meter_scoring: true
-  holonomic_robot: true
+  holonomic_robot: false
 
   shutdown_costmaps: false
 

my_robot/config/costmap_common_params.yaml

@@ -1,14 +1,17 @@
 map_type: costmap
 
-obstacle_range: 1.0 # 2.0
+obstacle_range: 1.2 # 2.0
 raytrace_range: 2.0 # 3.0
 
 transform_tolerance: 0.2 # 0.0
 
 robot_radius: 0.3 # 0.0
 inflation_radius: 0.5 # 0.0
-cost_scaling_factor: 5.0
+cost_scaling_factor: 3.0
 
 observation_sources: laser_scan_sensor
 
 laser_scan_sensor: {sensor_frame: hokuyo, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
+
+visualize_potential: true
+cost_factor: 0.8

my_robot/config/global_costmap_params.yaml

@@ -1,10 +1,10 @@
 global_costmap:
    global_frame: map
    robot_base_frame: robot_footprint
-   update_frequency: 1.0
-   publish_frequency: 1.0
-   width: 20.0
-   height: 20.0
+   update_frequency: 2.0
+   publish_frequency: 2.0
+   width: 12.0
+   height: 12.0
    resolution: 0.05
    static_map: true
    rolling_window: false

my_robot/config/local_costmap_params.yaml

@@ -1,10 +1,14 @@
 local_costmap:
    global_frame: odom
    robot_base_frame: robot_footprint
-   update_frequency: 2.0
-   publish_frequency: 2.0
-   width: 10.0
-   height: 10.0
-   resolution: 0.05
+   update_frequency: 3.0
+   publish_frequency: 3.0
+   width: 3.0
+   height: 3.0
+   resolution: 0.025
    static_map: false
    rolling_window: true
+   path_distance_bias: 32.0
+   goal_distance_bias: 20.0
+   occdist_scale: 0.02
+   latch_xy_goal_tolerance: false