Increase default w_smooth to 2M for Constrained Smoother (#385)

configuration/packages/configuring-constrained-smoother.rst

@@ -121,7 +121,7 @@ Smoother Server Parameters
   ============== ===========================
   Type           Default                    
   -------------- ---------------------------
-  double         15000.0
+  double         2000000.0
   ============== ===========================
 
   Description
@@ -271,7 +271,7 @@ Example
         minimum_turning_radius: 0.40  # minimum turning radius the robot can perform. Can be set to 0.0 (or w_curve can be set to 0.0 with the same effect) for diff-drive/holonomic robots
         w_curve: 30.0                 # weight to enforce minimum_turning_radius
         w_dist: 0.0                   # weight to bind path to original as optional replacement for cost weight
-        w_smooth: 15000.0             # weight to maximize smoothness of path
+        w_smooth: 2000000.0           # weight to maximize smoothness of path
         w_cost: 0.015                 # weight to steer robot away from collision and cost
 
         # Parameters used to improve obstacle avoidance near cusps (forward/reverse movement changes)