update x3 0.0.10-pi

docker/x3/Dockerfile.pi

@@ -1,4 +1,4 @@
-FROM huajuan6848/x3_ros2:0.0.1
+FROM huajuan6848/x3_ros2:0.0.1-orig-nav
 WORKDIR /root/yahboomcar_ros2_ws/yahboomcar_ws
 # ROS_DOMAIN_ID，这里先写死，后续可以在docker run时指定
 ENV ROS_DOMAIN_ID=32

docker/x3/dwa_nav_params_pi.yaml

@@ -108,17 +108,17 @@ controller_server:
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"
       debug_trajectory_details: True
-      min_vel_x: -0.12
+      min_vel_x: -0.3
       min_vel_y: 0.0
-      max_vel_x: 0.12
+      max_vel_x: 0.3
       max_vel_y: 0.0
-      max_vel_theta: 0.6
+      max_vel_theta: 1.0
       min_speed_xy: 0.0
-      max_speed_xy: 0.18
+      max_speed_xy: 0.3
       min_speed_theta: 0.0
       # Add high threshold velocity for turtlebot 3 issue.
       # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
-      acc_lim_x: 0.5
+      acc_lim_x: 2.5
       acc_lim_y: 0.0
       acc_lim_theta: 0.5
       decel_lim_x: -0.5
@@ -131,8 +131,8 @@ controller_server:
       linear_granularity: 0.05
       angular_granularity: 0.025
       transform_tolerance: 0.2
-      xy_goal_tolerance: 0.10
-      yaw_goal_tolerance: 0.20
+      xy_goal_tolerance: 0.15
+      yaw_goal_tolerance: 0.15
       trans_stopped_velocity: 0.25
       short_circuit_trajectory_evaluation: True
       stateful: True