Fix/drunken navigation

homer_navigation/config/homer_navigation.yaml

@@ -3,7 +3,7 @@
 /homer_navigation/frontier_safeness_factor:       1.0  # factor of min_allowed_obstacle_distance to an obstacle of a cell which is considered safe
 
 ### cost calculation parameters
-/homer_navigation/allowed_obstacle_distance/min:  0.27  # m robot must stay further away than this from obstacles
+/homer_navigation/allowed_obstacle_distance/min:  0.3  # m robot must stay further away than this from obstacles
 /homer_navigation/allowed_obstacle_distance/max:  5.0  # m not used at the moment
 /homer_navigation/safe_obstacle_distance/min:     1.0  # m if possible robot should move further away than this from obstacles
 /homer_navigation/safe_obstacle_distance/max:     1.3  # m further away than this from obstacles doesn't give a lesser cost addition
@@ -21,17 +21,17 @@
 
 ### 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:                 1  # rad/s max turn velocity the navigation can send
+/homer_navigation/max_turn_speed:                 0.9  # 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:                0.5  # rad threshold for driving and turning - if above that value only turn
 
-/homer_navigation/max_move_speed:                 1  # m/s   max move speed the navigation can send
+/homer_navigation/max_move_speed:                 0.9  # 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:               0.8 # 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
+/homer_navigation/map_speed_factor:               1.0 # factor for the max speed calculation of the obstacleDistancemap
+/homer_navigation/waypoint_speed_factor:          1.7 # factor for the max speed calculation with the distance to the next Waypoint
+/homer_navigation/obstacle_speed_factor:          0.9  # factor for the max speed calculation with the last laser max movement distance
+/homer_navigation/target_distance_speed_factor:   1.3  # factor for the max speed calculation with the distance to target
 
 /homer_navigation/callback_error_duration:        0.3  # s max duration between pose and laser callbacks before error handling is executed