Optimise navigation parameters

[hawesie]

@nilsbore wanted to optimise navigation parameters in order to reduce load and increase performance.

[hawesie]

See also #13

[hawesie]

And #29

[bfalacerda]

some questions/comments for @nilsbore:

1. Why did you change update_frequency from 5.0 to 3.0? I replaced it by 5.0 again as I was copy-pasting around, but we can revert back to 3.0 if that-'s needed.
2. The minimum value for origin_z, as seen in rqt_reconfigure, is 0.0, thus the -0.08 you're giving is not doing anything right now.

[nilsbore]

1. The update frequency was to reduce computational load as I did not see side effects. As discussed this might be the cause of the over-shooting issue but on the other hand it seems that it has gotten worse with the 2d obstacle avoidance as well.
2. Ok, I did not know this. The best thing would probably be to decrease origin_z then. Good catch!

[marc-hanheide]

sorry, has something been done on this. Has anyone checked if this is actually the cause for the overshooting #13 and #29 ? Also, which files are you talking about, I seem not to be able to find it.

[bfalacerda]

I can't tell for sure, I didn't look into this since. The only thing I can say as that I continue to witness overshooting when running on hydro, both with and without the chest camera.

The parameters I talked about are in the costmap params files here:
https://github.com/strands-project/scitos_2d_navigation/tree/hydro-devel/scitos_move_base_params_3d