adjusting backup speed to be more reasonable (#4501)

ros-navigation · Aug 23, 2024 · 4e4aa77 · 4e4aa77
1 parent 2031ac2
commit 4e4aa77
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Showing 5 changed files with 5 additions and 5 deletions.
diff --git a/...tor/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml b/...tor/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
@@ -40,7 +40,7 @@
           </Sequence>
           <Spin spin_dist="1.57"/>
           <Wait wait_duration="5.0"/>
-          <BackUp backup_dist="0.30" backup_speed="0.05"/>
+          <BackUp backup_dist="0.30" backup_speed="0.15"/>
         </RoundRobin>
       </ReactiveFallback>
     </RecoveryNode>

diff --git a/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
@@ -43,7 +43,7 @@
             </Sequence>
             <Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
             <Wait wait_duration="5.0"/>
-            <BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_error_code}"/>
+            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}"/>
           </RoundRobin>
         </ReactiveFallback>
       </Sequence>

diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
@@ -41,7 +41,7 @@
             </Sequence>
             <Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
             <Wait wait_duration="5.0"/>
-            <BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_code_id}"/>
+            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_code_id}"/>
           </RoundRobin>
         </ReactiveFallback>
       </Sequence>

diff --git a/..._bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml b/..._bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
@@ -41,7 +41,7 @@
           </Sequence>
           <Spin spin_dist="1.57"/>
           <Wait wait_duration="5.0"/>
-          <BackUp backup_dist="0.30" backup_speed="0.05"/>
+          <BackUp backup_dist="0.30" backup_speed="0.15"/>
         </RoundRobin>
       </ReactiveFallback>
     </RecoveryNode>

diff --git a/...igator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml b/...igator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
@@ -38,7 +38,7 @@
           </Sequence>
           <Spin name="SpinRecovery" spin_dist="1.57"/>
           <Wait name="WaitRecovery" wait_duration="5.0"/>
-          <BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.05"/>
+          <BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.15"/>
         </RoundRobin>
       </ReactiveFallback>
     </RecoveryNode>