Add lethal cost threshold config

RoboJackets · May 31, 2024 · 2bbeb05 · 2bbeb05
1 parent 64225a6
commit 2bbeb05
Show file tree

Hide file tree

Showing 2 changed files with 245 additions and 225 deletions.
diff --git a/urc_navigation/trajectory_following/config/pure_pursuit_config.yaml b/urc_navigation/trajectory_following/config/pure_pursuit_config.yaml
@@ -2,6 +2,7 @@ follower_action_server:
   ros__parameters:
     lookahead_distance: 0.9
     desired_linear_velocity: 0.5
+    lethal_cost_threshold: 10
     cmd_vel_stamped: true
     cmd_vel_topic: "/rover_drivetrain_controller/cmd_vel"
     odom_topic: "/rover_drivetrain_controller/odom"