changed some defaults

bit-bots · Dec 18, 2024 · d12b19c · d12b19c
1 parent ce5dd61
commit d12b19c
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Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/bitbots_misc/bitbots_ipm/config/soccer_ipm.yaml b/bitbots_misc/bitbots_ipm/config/soccer_ipm.yaml
@@ -20,8 +20,8 @@ soccer_ipm:
     robots:
       footpoint_out_of_image_threshold: 0.8
       object_default_dimensions:
-        x: 0.2
-        y: 0.2
+        x: 0.3
+        y: 0.3
         z: 1.0
 
     output_frame: 'base_footprint'

diff --git a/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/planner.py b/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/planner.py
@@ -118,6 +118,7 @@ def step(self) -> Path:
             self.frame, self.base_footprint_frame, Time(), Duration(seconds=0.2)
         ).transform.translation
         start = (my_position.x, my_position.y)
+        self.node.get_logger().info(f"got dilation parameter: {self.node.config.map.inflation.dilate}")
         config = ObstacleMapConfig(dilate=self.node.config.map.inflation.dilate, num_vertices=12)
         obstacles = self.robots
         if self.ball_obstacle_active and self.ball is not None:

diff --git a/bitbots_navigation/bitbots_path_planning/config/path_planning_parameters.yaml b/bitbots_navigation/bitbots_path_planning/config/path_planning_parameters.yaml
@@ -61,7 +61,7 @@ bitbots_path_planning:
     inflation:
       dilate:
         type: double
-        default_value: 0.25
+        default_value: 0.35
         description: 'The dilation value for the inflation'
         read_only: true
       blur:
-Original file line number
+Diff line change
@@ Expand Up / @@ -20,8 +20,8 @@ soccer_ipm: @@
         robots:
           footpoint_out_of_image_threshold: 0.8
           object_default_dimensions:
-            x: 0.2
-            y: 0.2
+            x: 0.3
+            y: 0.3
             z: 1.0
         output_frame: 'base_footprint'
@@ Expand Down @@