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Fix FTC oscillation recovery defaults #4

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Fix FTC oscillation recovery defaults #4

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6 changes: 3 additions & 3 deletions cfg/FTCPlanner.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -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)

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