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use p controller to stop oscillations #1014

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Merged
spomichter merged 1 commit into from
Jan 14, 2026
Merged

use p controller to stop oscillations #1014

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6 changes: 2 additions & 4 deletions dimos/navigation/replanning_a_star/local_planner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@
from dimos.msgs.nav_msgs import Path
from dimos.msgs.sensor_msgs import Image
from dimos.navigation.base import NavigationState
from dimos.navigation.replanning_a_star.controllers import Controller, PController, PdController
from dimos.navigation.replanning_a_star.controllers import Controller, PController
from dimos.navigation.replanning_a_star.navigation_map import NavigationMap
from dimos.navigation.replanning_a_star.path_clearance import PathClearance
from dimos.navigation.replanning_a_star.path_distancer import PathDistancer
Expand Down Expand Up @@ -87,9 +87,7 @@ def __init__(
self._navigation_map = navigation_map
self._goal_tolerance = goal_tolerance

controller = PController if global_config.simulation else PdController

self._controller = controller(
self._controller = PController(
self._global_config,
self._speed,
self._control_frequency,
Expand Down
2 changes: 1 addition & 1 deletion dimos/robot/unitree_webrtc/unitree_go2_blueprints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,7 @@

nav = autoconnect(
basic,
voxel_mapper(voxel_size=0.1),
voxel_mapper(voxel_size=0.05),
cost_mapper(),
replanning_a_star_planner(),
wavefront_frontier_explorer(),
Expand Down