From cfa6963f7d1800e1cb977a3bf478edcf2097bb9a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20H=C3=B8gden?= Date: Mon, 5 Aug 2024 15:56:51 +0200 Subject: [PATCH] Minor adjustments to heading tuning --- .../config/hybridpath_controller_config.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/motion/hybridpath_controller/config/hybridpath_controller_config.yaml b/motion/hybridpath_controller/config/hybridpath_controller_config.yaml index f01ea96..d8a9193 100644 --- a/motion/hybridpath_controller/config/hybridpath_controller_config.yaml +++ b/motion/hybridpath_controller/config/hybridpath_controller_config.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: hybridpath_controller: - K1_diag: [1., 1., 1.] # First gain matrix - K2_diag: [40.0, 30.0, 20.0] # Second gain matrix \ No newline at end of file + K1_diag: [1., 1., 5.] # First gain matrix + K2_diag: [40.0, 30.0, 40.0] # Second gain matrix \ No newline at end of file