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escape behavior change

asked 2014-07-30 05:51:12 -0500

dreamcase
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hi, all,

on my robot, the escape behaviour in move_base navigation stack is too 'fierce'. the rotation is much too fast.

how can I change it?

rgds

Ray

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Or, is there a way to inhibit the rotatory recovery behaviour?

dreamcase ( 2014-07-30 09:59:28 -0500 )edit

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answered 2014-07-30 10:41:20 -0500

David Lu

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The parameters for configuring the recovery behaviors are listed here: http://wiki.ros.org/rotate_recovery#T...

You can remove the recovery behaviors by configuring the recovery_behaviors parameter. http://wiki.ros.org/move_base#Parameters

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thanks David, are they both set in base_local_planner_params.yaml? under "TrajectoryPlannerROS"

dreamcase ( 2014-07-30 11:28:03 -0500 )edit

Probably. I don't know what your exact configuration is, but you can set them there. If you want them to be different than your normal path planning parameters, you have to set them somewhere else under the rotate_recovery namespace.

David Lu ( 2014-07-30 12:45:45 -0500 )edit

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Asked: 2014-07-30 05:51:12 -0500

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Last updated: Jul 30 '14

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