From cf819c8356fc6a4e4b8374ecd88ac895de260591 Mon Sep 17 00:00:00 2001
From: chyoo <chyoo@futuredrive.net>
Date: Wed, 12 Aug 2026 14:05:05 +0900
Subject: [PATCH] Update MKMini 2D simulation control defaults

---
 src/control_pkg/config/control_2d_sim_mkmini.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/control_pkg/config/control_2d_sim_mkmini.yaml b/src/control_pkg/config/control_2d_sim_mkmini.yaml
index 301e769..c996d9b 100644
--- a/src/control_pkg/config/control_2d_sim_mkmini.yaml
+++ b/src/control_pkg/config/control_2d_sim_mkmini.yaml
@@ -36,7 +36,7 @@ controller_server:
 
       # A 1 m lookahead at 0.5 m/s cuts across the 1.35 m-radius vehicle
       # paths. Keep the simulated tricycle close to the planned arc.
-      desired_linear_vel: 0.3
+      desired_linear_vel: 0.4
       min_approach_linear_velocity: 0.15
       lookahead_dist: 0.6
       cost_scaling_dist: 0.6