From 081983e31e763c30286cff5f10d1b176fd455e13 Mon Sep 17 00:00:00 2001
From: Robot <zhangwanjie@126.com>
Date: Thu, 4 Apr 2024 12:01:37 +0800
Subject: [PATCH] updata params for move_base

---
 launch/wpb_ai_nav_test.launch     | 2 ++
 launch/wpb_home_nav_remote.launch | 2 ++
 launch/wpb_home_nav_test.launch   | 2 ++
 launch/wpb_mani_nav_test.launch   | 2 ++
 4 files changed, 8 insertions(+)

diff --git a/launch/wpb_ai_nav_test.launch b/launch/wpb_ai_nav_test.launch
index 5143b22..2a03593 100644
--- a/launch/wpb_ai_nav_test.launch
+++ b/launch/wpb_ai_nav_test.launch
@@ -39,6 +39,8 @@
     <param name="base_local_planner" value="wpb_local_planner/WpbLocalPlanner" />
 
     <param name= "controller_frequency" value="10" type="double"/>
+    <param name= "oscillation_timeout" value="8" type="double"/>
+    <param name= "oscillation_distance" value="0.2" type="double"/>
   </node>
 
   <!-- RViz and TF tree -->
diff --git a/launch/wpb_home_nav_remote.launch b/launch/wpb_home_nav_remote.launch
index e76285c..5c57bff 100644
--- a/launch/wpb_home_nav_remote.launch
+++ b/launch/wpb_home_nav_remote.launch
@@ -39,6 +39,8 @@
     <param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />
 
     <param name= "controller_frequency" value="10" type="double"/>
+    <param name= "oscillation_timeout" value="8" type="double"/>
+    <param name= "oscillation_distance" value="0.2" type="double"/>
   </node>
 
   <!-- RViz and TF tree -->
diff --git a/launch/wpb_home_nav_test.launch b/launch/wpb_home_nav_test.launch
index 2301e43..5e87b60 100644
--- a/launch/wpb_home_nav_test.launch
+++ b/launch/wpb_home_nav_test.launch
@@ -39,6 +39,8 @@
     <param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />
 
     <param name= "controller_frequency" value="10" type="double"/>
+    <param name= "oscillation_timeout" value="8" type="double"/>
+    <param name= "oscillation_distance" value="0.2" type="double"/>
   </node>
 
   <!-- RViz and TF tree -->
diff --git a/launch/wpb_mani_nav_test.launch b/launch/wpb_mani_nav_test.launch
index 2303322..0fedf63 100644
--- a/launch/wpb_mani_nav_test.launch
+++ b/launch/wpb_mani_nav_test.launch
@@ -39,6 +39,8 @@
     <param name="base_local_planner" value="wpb_local_planner/WpbLocalPlanner" />
 
     <param name= "controller_frequency" value="10" type="double"/>
+    <param name= "oscillation_timeout" value="8" type="double"/>
+    <param name= "oscillation_distance" value="0.2" type="double"/>
   </node>
 
   <!-- RViz and TF tree -->