Tune path finding

Author: Flova

bitbots_navigation/bitbots_path_planning/config/path_planning_parameters.yaml

@@ -1,5 +1,5 @@
 bitbots_path_planning:
-  base_footprint_frame: 
+  base_footprint_frame:
     type: string
     default_value: base_footprint
     description: 'The frame of the robot base'
@@ -16,7 +16,7 @@ bitbots_path_planning:
     description: 'The rate at which the path planning is executed'
     validation:
       bounds<>: [0.0, 100.0]
-  
+
   map:
     planning_frame:
       type: string
@@ -86,7 +86,7 @@ bitbots_path_planning:
 
     max_vel_x:
       type: double
-      default_value: 0.15
+      default_value: 0.12
       description: 'Maximum velocity we want to reach in different directions (base_footprint coordinate system)'
       validation:
         bounds<>: [0.0, 1.0]
@@ -132,4 +132,3 @@ bitbots_path_planning:
       description: 'Distance at which we switch from orienting towards the path to orienting towards the goal poses orientation (in meters)'
       validation:
         bounds<>: [0.0, 10.0]
-      

bitbots_navigation/bitbots_path_planning/test/__snapshots__/test_controller.ambr

@@ -1,11 +1,11 @@
 # serializer version: 1
 # name: test_default_setup
   dict({
-    'carrot_distance': 4,
+    'carrot_distance': 20,
     'max_rotation_vel': 0.4,
-    'max_vel_x': 0.05,
-    'max_vel_y': 0.05,
-    'min_vel_x': -0.05,
+    'max_vel_x': 0.12,
+    'max_vel_y': 0.1,
+    'min_vel_x': -0.1,
     'orient_to_goal_distance': 1.0,
     'rotation_i_factor': 0.0,
     'rotation_slow_down_factor': 0.3,
@@ -14,5 +14,5 @@
   })
 # ---
 # name: test_step_cmd_vel_smoothing
-  'geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.03270670566473225, y=0.02406005849709838, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.20666164469042259))'
+  'geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.073884548439286, y=0.051963071290922924, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.20666164469042259))'
 # ---