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Reading through the document of the ROS Local Planner, a common one being DWA (http://wiki.ros.org/base_local_planner), It seems like they all provide a setpoint velocity which is then provided to the robot base driver.

Am I correct in my understanding that all of these assume that the robot can accelerate near instantaneously to the set velocity, as none of them seem to take into account that it takes some amount of time to reach a setpoint.

Asked by sritee on 2019-11-24 20:24:48 UTC

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Answers

Look a little more more closely at:

http://wiki.ros.org/base_local_planner#Robot_Configuration_Parameters

~<name>/acc_lim_x (double, default: 2.5)

    The x acceleration limit of the robot in meters/sec^2 

~<name>/acc_lim_y (double, default: 2.5)

    The y acceleration limit of the robot in meters/sec^2 

~<name>/acc_lim_theta (double, default: 3.2)

    The rotational acceleration limit of the robot in radians/sec^2

I believe these parameters affect the trajectories that are evaluated by the controller.

Asked by jordan on 2019-11-24 20:35:11 UTC

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These parameters affect the search for the next velocity, but when we forward simulate from the current point, it looks like we assume that the next velocity is reached instantaneously, that is my question

Asked by sritee on 2019-11-24 22:32:33 UTC