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Revert "pure_pursuitのパラメタ調整"
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This reverts commit 6e45ced.
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itahara-shotaro committed Aug 12, 2024
1 parent aa38895 commit 469fc8a
Showing 1 changed file with 3 additions and 3 deletions.
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Expand Up @@ -205,9 +205,9 @@

<node pkg="simple_pure_pursuit" exec="simple_pure_pursuit" name="simple_pure_pursuit_node" output="screen">
<param name="use_external_target_vel" value="true"/>
<param name="external_target_vel" value="12.0"/>
<param name="lookahead_gain" value="0.12"/>
<param name="lookahead_min_distance" value="1.5"/>
<param name="external_target_vel" value="8.0"/>
<param name="lookahead_gain" value="0.3"/>
<param name="lookahead_min_distance" value="4.0"/>
<param name="speed_proportional_gain" value="1.0"/>

<remap from="input/kinematics" to="/localization/kinematic_state"/>
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