Commit a087a3dc authored by Dave Niewinski's avatar Dave Niewinski
Browse files

Updated the rolling window size for more responsive control

parent 18fc135f
......@@ -10,6 +10,7 @@ husky_velocity_controller:
pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
cmd_vel_timeout: 0.25
velocity_rolling_window_size: 2
# Base frame_id
base_frame_id: base_link
......
......@@ -31,7 +31,7 @@
<!-- Spawn controllers -->
<node name="base_controller_spawner" pkg="controller_manager" type="spawner"
args="husky_joint_publisher husky_velocity_controller --shutdown-timeout 3"/>
args="husky_joint_publisher husky_velocity_controller"/>
<!-- Start EKF for localization -->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization">
......
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