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usdot-fhwa-stol · Jan 17, 2025 · f59882d · f59882d
1 parent 7b8cc77
commit f59882d
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Showing 2 changed files with 5 additions and 7 deletions.
diff --git a/localization_manager/config/parameters.yaml b/localization_manager/config/parameters.yaml
@@ -40,9 +40,9 @@ sequential_timesteps_until_gps_operation: 5
 # 3 - AUTO select between NDT and GNSS without GNSS timeout
 # 4 - GNSS only with NDT initialization
 # 5 - GNSS only with fixed offset
-localization_mode: 5
+localization_mode: 4
 
 # Fixed offset (in meters in map frame) to use when GNSS only with fixed offset is being used (Mode 5)
-x_offset: 3.0
-y_offset: -2.8
+x_offset: 2.8
+y_offset: -2.1
 z_offset: 0.0
diff --git a/trajectory_executor/config/parameters.yaml b/trajectory_executor/config/parameters.yaml
@@ -7,10 +7,8 @@ trajectory_publish_rate: 10.0
 # Due to lack of existing plugin discovery mechanism this is the only control plugin
 # which will be available to TrajectoryExecutor
 # Units: N/a
-# default_control_plugin: "pure_pursuit_wrapper_node"
-default_control_plugin: "trajectory_follower_wrapper"
+default_control_plugin: "pure_pursuit_wrapper_node"
 
 # String: Full path to default control plugin's trajectory input topic
 # Units: N/a
-#default_control_plugin_topic: "/guidance/plugins/pure_pursuit/plan_trajectory"
-default_control_plugin_topic: "/guidance/plugins/trajectory_follower_wrapper/plan_trajectory"
+default_control_plugin_topic: "/guidance/plugins/pure_pursuit/plan_trajectory"