Fix velocities

Signed-off-by: Francisco Martín Rico <[email protected]>

Author: fmrico

br2_navigation/params/tiago_nav_params.yaml

@@ -96,9 +96,19 @@ bt_navigator:
     # Built-in plugins are added automatically
     # plugin_lib_names: []
 
-    error_code_names:
-      - compute_path_error_code
-      - follow_path_error_code
+    error_code_name_prefixes:
+      - assisted_teleop
+      - backup
+      - compute_path
+      - dock_robot
+      - drive_on_heading
+      - follow_path
+      - nav_thru_poses
+      - nav_to_pose
+      - spin
+      - route
+      - undock_robot
+      - wait
 
 bt_navigator_navigate_through_poses_rclcpp_node:
   ros__parameters:
@@ -170,9 +180,9 @@ controller_server:
       debug_trajectory_details: True
       min_vel_x: 0.0
       min_vel_y: 0.0
-      max_vel_x: 0.3
+      max_vel_x: 0.1
       max_vel_y: 0.0
-      max_vel_theta: 5.00
+      max_vel_theta: 3.00
       min_speed_xy: 0.0
       max_speed_xy: 1.00
       min_speed_theta: 0.0

br2_vff_avoidance/src/br2_vff_avoidance/AvoidanceNode.cpp

@@ -68,8 +68,8 @@ AvoidanceNode::control_cycle()
 
   // Create ouput message, controlling speed limits
   geometry_msgs::msg::Twist vel;
-  vel.linear.x = std::clamp(module, 0.0, 0.3);  // truncate linear vel to [0.0, 0.3] m/s
-  vel.angular.z = std::clamp(angle, -0.5, 0.5);  // truncate rotation vel to [-0.5, 0.5] rad/s
+  vel.linear.x = std::clamp(module, 0.0, 0.1);  // truncate linear vel to [0.0, 0.3] m/s
+  vel.angular.z = std::clamp(angle, -0.3, 0.3);  // truncate rotation vel to [-0.5, 0.5] rad/s
 
   vel_pub_->publish(vel);
 

third_parties.repos

@@ -2,7 +2,7 @@ repositories:
   ThirdParty/tiago_simulation:
     type: git
     url: https://github.com/Tiago-Harmonic/tiago_simulation.git
-    version: rolling
+    version: kilted
   ThirdParty/launch_pal:
     type: git
     url: https://github.com/Tiago-Harmonic/launch_pal.git
@@ -18,52 +18,52 @@ repositories:
   ThirdParty/play_motion2:
     type: git
     url: https://github.com/Tiago-Harmonic/play_motion2.git
-    version: rolling
+    version: kilted
   ThirdParty/pmb2_robot:
     type: git
     url: https://github.com/Tiago-Harmonic/pmb2_robot.git
-    version: rolling
+    version: kilted
   ThirdParty/pmb2_navigation:
     type: git
     url: https://github.com/Tiago-Harmonic/pmb2_navigation.git
-    version: rolling
+    version: kilted
   ThirdParty/tiago_robot:
     type: git
     url: https://github.com/Tiago-Harmonic/tiago_robot.git
-    version: rolling
+    version: kilted
   ThirdParty/tiago_navigation:
     type: git
     url: https://github.com/Tiago-Harmonic/tiago_navigation.git
-    version: rolling
+    version: kilted
   ThirdParty/tiago_simulation:
     type: git
     url: https://github.com/Tiago-Harmonic/tiago_simulation.git
-    version: rolling
+    version: kilted
   ThirdParty/pal_hey5:
     type: git
     url: https://github.com/Tiago-Harmonic/pal_hey5.git
-    version: rolling
+    version: kilted
   ThirdParty/pal_gripper:
     type: git
     url: https://github.com/Tiago-Harmonic/pal_gripper.git
-    version: rolling
+    version: kilted
   ThirdParty/pal_robotiq_gripper:
     type: git
     url: https://github.com/Tiago-Harmonic/pal_robotiq_gripper.git
-    version: rolling
+    version: kilted
   ThirdParty/tiago_moveit_config:
     type: git
     url: https://github.com/Tiago-Harmonic/tiago_moveit_config.git
-    version: rolling
+    version: kilted
   ThirdParty/tiago_omni_base:
     type: git
     url: https://github.com/Tiago-Harmonic/omni_base_robot.git
-    version: rolling
+    version: kilted
   ThirdParty/pal_urdf_utils:
     type: git
     url: https://github.com/Tiago-Harmonic/pal_urdf_utils.git
-    version: rolling
+    version: kilted
   ThirdParty/yaets:
     type: git
     url: https://github.com/fmrico/yaets.git
-    version: rolling
+    version: kilted