Document all tunable parameters for coverage_mission_nav

[Copilot]

No single reference existed for all parameters that affect coverage navigation behavior, making systematic tuning difficult.

Changes

• COVERAGE_TUNING.md (new) — complete per-parameter reference covering all four subsystems (coverage planner, DWA local planner, costmaps, move_base), with default values, units, tuning implications, and a symptom→fix troubleshooting table
• launch/coverage_mission_nav.launch — grouped and annotated every <arg> and <param> inline; clarified NavfnROS/allow_unknown must stay true for mapless operation
• config/dwa_planner.yaml — inline comments explaining the three most impactful scoring weights (path_distance_bias, goal_distance_bias, occdist_scale) and all velocity/acceleration/simulation knobs
• config/costmap_common.yaml, global_costmap.yaml, local_costmap.yaml — annotated all frequency, window-size, inflation, and obstacle-range parameters with tuning constraints (e.g. local_costmap/update_frequency ≥ controller_frequency)

Quick reference — highest-impact knobs

Symptom	Parameter(s) to touch
Too slow	max_vel_x, acc_lim_x in dwa_planner.yaml
Clips obstacles	inflation_radius, occdist_scale
Oscillates at goal	xy_goal_tolerance, goal_distance_bias
Stalls / timeouts	stall_timeout, waypoint_timeout, controller_patience
No reachable target	target_cost_threshold, no_target_retry_limit
Sparse coverage	row_spacing, waypoint_spacing

Original prompt

give me all the paramrters i can try tuning and an explanation of what the parameter is when testing the deployment of this navigation by coverage mission nav. Do u think i shd just try to tune parameters and eventually it would run well?

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