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Fix/drunken navigation

Merged Fix/drunken navigation
fix/drunken_navigation into master
Merged Ghost User requested to merge fix/drunken_navigation into master
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homer_navigation/config/homer_navigation.yaml
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@@ -21,14 +21,14 @@
### speed parameters
/homer_navigation/min_turn_angle: 0.1 # rad values lower than this angle will let the navigation assume reaching the designated position
/homer_navigation/max_turn_speed: 0.8 # rad/s max turn velocity the navigation can send
/homer_navigation/max_turn_speed: 1 # rad/s max turn velocity the navigation can send
/homer_navigation/min_turn_speed: 0.2 # rad/s min turn speed for Final Turn so the Robot doesn't stop turning
/homer_navigation/max_drive_angle: 0.4 # rad threshold for driving and turning - if above that value only turn
/homer_navigation/max_drive_angle: 0.5 # rad threshold for driving and turning - if above that value only turn
/homer_navigation/max_move_speed: 0.8 # m/s max move speed the navigation can send
/homer_navigation/max_move_speed: 1 # m/s max move speed the navigation can send
### caution factors values near 0 mean high caution values greater values mean less caution
### if any factor equals 0 the robot can't follow paths !!
/homer_navigation/map_speed_factor: 0.7 # factor for the max speed calculation of the obstacleDistancemap
/homer_navigation/map_speed_factor: 0.8 # factor for the max speed calculation of the obstacleDistancemap
/homer_navigation/waypoint_speed_factor: 1 # factor for the max speed calculation with the distance to the next Waypoint
/homer_navigation/obstacle_speed_factor: 0.5 # factor for the max speed calculation with the last laser max movement distance
/homer_navigation/target_distance_speed_factor: 0.5 # factor for the max speed calculation with the distance to target