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hello,

for mapping update timing, you can change update_frequency in global_costmap_param.yaml and local_costmap_param.yaml and you may consider lowering the publish_frequency because of computational load.

for more and detailed information check navigation tunining wiki

hello,

for mapping update timing, you can change update_frequency in global_costmap_param.yaml global_costmap_params.yaml and local_costmap_param.yaml local_costmap_params.yaml and you may consider lowering the publish_frequency because of computational load.

for more and detailed information check navigation tunining wiki

hello,

for mapping update timing, you can change update_frequency in global_costmap_params.yaml and local_costmap_params.yaml and you may consider lowering the publish_frequency because of computational load.

about your motion, you may decrease your acceleration parameters, and make you sure that your robot is following cmd_vel 's datas corretly, record your velocity params and record cmd_vel then plot them in rxgraph, see if given velocity datas and your velocities match

for more and detailed information check navigation tunining wiki