From 0b720b6b1f795c23fc647b5818422fdd1ff16c6d Mon Sep 17 00:00:00 2001
From: Tatsuhiro Ikebe <beike315@icloud.com>
Date: Fri, 17 Nov 2023 17:42:42 +0900
Subject: [PATCH] Fix launch param particle_size and target_velocity (#85)

---
 ike_launch/launch/ike_nav.launch.xml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/ike_launch/launch/ike_nav.launch.xml b/ike_launch/launch/ike_nav.launch.xml
index f77da83..94c97f9 100644
--- a/ike_launch/launch/ike_nav.launch.xml
+++ b/ike_launch/launch/ike_nav.launch.xml
@@ -19,7 +19,7 @@
 
     <composable_node pkg="ike_localization" plugin="ike_nav::IkeLocalization" name="ike_localization" namespace="">
       <param name="loop_mcl_hz"                         value="10."/>
-      <param name="particle_size"                       value="100"/>
+      <param name="particle_size"                       value="1000"/>
       <param name="initial_pose_x"                      value="8."/>
       <param name="initial_pose_y"                      value="9.5"/>
       <param name="initial_pose_a"                      value="0.3"/>
@@ -45,11 +45,12 @@
     </composable_node>
 
     <composable_node pkg="ike_controller" plugin="ike_nav::IkeController" name="ike_controller" namespace="">
-      <param name="mpc.delta_time"                      value="0.7"/>
+      <param name="mpc.delta_time"                      value="0.1"/>
       <param name="mpc.predictive_horizon_num"          value="10"/>
+      <param name="mpc.target_velocity"                 value="0.3"/>
       <param name="mpc.lower_bound_linear_velocity"     value="0."/>
       <param name="mpc.lower_bound_angular_velocity"    value="-3.14159265358979323846"/>
-      <param name="mpc.upper_bound_linear_velocity"     value="0.1"/>
+      <param name="mpc.upper_bound_linear_velocity"     value="0.3"/>
       <param name="mpc.upper_bound_angular_velocity"    value="3.14159265358979323846"/>
       <param name="mpc.max_num_iterations"              value="100"/>
       <param name="mpc.recovery_rotate_velocity"        value="0.3"/>