fix initialization issue in poly_map_planner_node: the goal should be…

… inside the map.
schaosun · Jan 16, 2019 · b8b8d2b · b8b8d2b
1 parent 19a22d5
commit b8b8d2b
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/mpl_test_node/launch/poly_map_planner_node/test.launch b/mpl_test_node/launch/poly_map_planner_node/test.launch
@@ -11,7 +11,7 @@
     launch-prefix="$(arg prefix)"
     output="screen">
     <!-- Set start and goal -->
-    <param name="goal_x" value="18"/>
+    <param name="goal_x" value="18.0"/>
     <param name="goal_y" value="0"/>
     <param name="start_vx" value="0.0"/>
     <param name="start_vy" value="0.0"/>

diff --git a/mpl_test_node/src/poly_map_planner_node.cpp b/mpl_test_node/src/poly_map_planner_node.cpp
@@ -33,7 +33,7 @@ int main(int argc, char **argv) {
   Vec2f origin, dim;
   nh.param("origin_x", origin(0), 0.0);
   nh.param("origin_y", origin(1), -2.5);
-  nh.param("range_x", dim(0), 15.0);
+  nh.param("range_x", dim(0), 20.0);
   nh.param("range_y", dim(1), 5.0);
 
   // Initialize planner
@@ -55,7 +55,7 @@ int main(int argc, char **argv) {
   planner_ptr->setVmax(v_max);      // Set max velocity
   planner_ptr->setAmax(a_max);      // Set max acceleration
   planner_ptr->setDt(dt);           // Set dt for each primitive
-  planner_ptr->setTol(0.5, 0.1); // Tolerance for goal region
+  planner_ptr->setTol(1.0, 1.0); // Tolerance for goal region
 
   // Set start and goal
   double start_x, start_y;