# Navigation Tuning Taking the node `“/motors_ctrl”` as an example. It is publishing to `“/odom”` topic with `“nav_msgs/Odometry”` message type, along with the other topics in the list. It also subscribes to `“/cmd_vel”` topic with message type `“geometry_msgs/Twist”` 1. Go into the folder ‘/home/\/catkin\_ws/movel\_ai/config/movel/config/’
2. In the parameter file **costmap\_common\_params.yaml**, ensure that the robot footprint is defined correctly. 1. If the robot footprint is a polygon, configure the footprint parameter and comment out robot\_radius. For example: ``` footprint: [[0.2, 0.2], [-0.2, 0.2], [-0.2, -0.2], [0.2, -0.2]] #robot_radius: 0.18 ``` 3. Here, the robot has a square footprint with the xy coordinates of the four corners as shown, while robot\_radius is commented out.
1. If the robot footprint is circular, configure the robot\_radius parameter and comment out footprint. For example: ``` #footprint: [[0.2, 0.2], [-0.2, 0.2], [-0.2, -0.2], [0.2, -0.2]] robot_radius: 0.18 ``` 4. In base\_local\_planner\_params.yaml: 1. Go to “`#Robot`” section. To tune the speed of the robot, configure `max_vel_x` for linear speed, and `max_vel_theta` for angular speed. 1. If the robot is not reaching the max speed, increase `acc_lim_x` and `acc_lim_theta`. 2. In footprint\_model, select a suitable model type and configure the corresponding parameters. 2. In “`#Obstacles`” section, tune the value of `min_obstacle_dist` to set how far away the robot should keep away from obstacles. Reduce this parameter value if the robot is required to go through narrow spaces.
5. If the autonomous navigation motion is jerky, go to “catkin\_ws/movel\_ai/config/cmd\_vel\_mux/config”, find cmd\_vel\_mux.yaml, and increase the value set for `timeout_autonomous`.
6. For in depth tuning of base\_local\_planner\_params.yaml, refer to . --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://docs.movel.ai/new-collection/seirios-rns/documentation/installation-and-integration-1/navigation-tuning.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.