From 004e7f5e4ee19ea0686dd5dbb49cc71b3eb04a8e Mon Sep 17 00:00:00 2001 From: Ollie Walsh Date: Tue, 21 May 2024 22:41:05 +0100 Subject: [PATCH] Fix FTC oscillation recovery defaults Oscillation detection states: v_eps Threshold for the average normalized linear velocity in (0,1) that must not be exceded (e.g. 0.1) omega_eps Threshold for the average normalized angular velocity in (0,1) that must not be exceded (e.g. 0.1) --- cfg/FTCPlanner.cfg | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/cfg/FTCPlanner.cfg b/cfg/FTCPlanner.cfg index 6c9528e..1cfc2b2 100755 --- a/cfg/FTCPlanner.cfg +++ b/cfg/FTCPlanner.cfg @@ -44,9 +44,9 @@ gen.add("debug_pid", bool_t, 0, " Emit debug_pid topic", False) grp_recovery = gen.add_group("recovery", type="tab") grp_recovery.add("oscillation_recovery", bool_t, 0, "Try to detect and resolve oscillations between multiple solutions in the same equivalence class (robot frequently switches between left/right/forward/backwards).", - True) -grp_recovery.add("oscillation_v_eps", double_t, 0, "Oscillation velocity eps", 5.0, 0.0, 100.0) -grp_recovery.add("oscillation_omega_eps", double_t, 0, "Oscillation omega eps", 5.0, 0.0, 100.0) + True) +grp_recovery.add("oscillation_v_eps", double_t, 0, "Oscillation velocity eps", 0.1, 0.0, 1.0) +grp_recovery.add("oscillation_omega_eps", double_t, 0, "Oscillation omega eps", 0.1, 0.0, 1.0) grp_recovery.add("oscillation_recovery_min_duration", double_t, 0, "duration until recovery in s", 5.0, 0.0, 100.0) # Obstacles