ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Thu, 26 Jan 2017 02:56:42 -0600move_base tuninghttps://answers.ros.org/question/252913/move_base-tuning/Whats are the variables that go into determining what cmd_vel move_base will output. I have a robot thats capable of 4m/s but during autonomous navigation the maximum that it ever chooses to go is 0.75m/s.
Here is my current understanding.
**min_vel_x** and **max_vel_x** bound the possible cmd_vel that move_base will output
I also read somewhere that **gdist** will also affect cmd_vel but in testing I have tweaked this value a lot using rqt_reconfigure and it doesn't show a noticeable difference.
Are there any other parameters that I can tweek in order to make my robot move closer to its full speed (just talking about x direction)?
TrajectoryPlannerROS:
max_vel_x: 4.0
min_vel_x: 0.4
max_vel_theta: 3.0
min_vel_theta: -3.0
min_in_place_vel_theta: 1.0
acc_lim_theta: 6.0
acc_lim_x: 6.0
acc_lim_y: 6.0
yaw_goal_tolerance: 0.3
xy_goal_tolerance: 0.5
sim_time: 1.0
sim_granularity: 0.025
angular_sim_granularity: 0.025
vx_samples: 3
vtheta_samples: 20
controller_frequency: 20
# Cost Function Parameters
# cost = pdist_scale * (distance to path from the endpoint of the trajectory in map cells) + gdist_scale * (distance to local goal from the endpoint of the trajectory in map cells) + occdist_scale * (maximum obstacle cost along the trajectory in obstacle cost (0-254))
# Local cost map resolution: 0.05 meters/cell
pdist_scale: 0.6
gdist_scale: 0.3 # Also controls speed
occdist_scale: 0.01
dwa: true
publish_cost_grid_pc: true
prune_plan: false
holonomic_robot: false # Robot cannot move sideways without turning firstTue, 24 Jan 2017 14:09:31 -0600https://answers.ros.org/question/252913/move_base-tuning/Answer by Procópio for <p>Whats are the variables that go into determining what cmd_vel move_base will output. I have a robot thats capable of 4m/s but during autonomous navigation the maximum that it ever chooses to go is 0.75m/s. </p>
<p>Here is my current understanding.</p>
<p><strong>min_vel_x</strong> and <strong>max_vel_x</strong> bound the possible cmd_vel that move_base will output</p>
<p>I also read somewhere that <strong>gdist</strong> will also affect cmd_vel but in testing I have tweaked this value a lot using rqt_reconfigure and it doesn't show a noticeable difference. </p>
<p>Are there any other parameters that I can tweek in order to make my robot move closer to its full speed (just talking about x direction)? </p>
<pre><code>TrajectoryPlannerROS:
max_vel_x: 4.0
min_vel_x: 0.4
max_vel_theta: 3.0
min_vel_theta: -3.0
min_in_place_vel_theta: 1.0
acc_lim_theta: 6.0
acc_lim_x: 6.0
acc_lim_y: 6.0
yaw_goal_tolerance: 0.3
xy_goal_tolerance: 0.5
sim_time: 1.0
sim_granularity: 0.025
angular_sim_granularity: 0.025
vx_samples: 3
vtheta_samples: 20
controller_frequency: 20
# Cost Function Parameters
# cost = pdist_scale * (distance to path from the endpoint of the trajectory in map cells) + gdist_scale * (distance to local goal from the endpoint of the trajectory in map cells) + occdist_scale * (maximum obstacle cost along the trajectory in obstacle cost (0-254))
# Local cost map resolution: 0.05 meters/cell
pdist_scale: 0.6
gdist_scale: 0.3 # Also controls speed
occdist_scale: 0.01
dwa: true
publish_cost_grid_pc: true
prune_plan: false
holonomic_robot: false # Robot cannot move sideways without turning first
</code></pre>
https://answers.ros.org/question/252913/move_base-tuning/?answer=253051#post-id-253051Try to increase the `vx_samples` and maybe also the `sim_time`. You are only using 3 samples for linear velocity, which may be the cause of your reduced speed.
Bear in mind that increasing this values will also increase the load on your CPU.Thu, 26 Jan 2017 02:56:42 -0600https://answers.ros.org/question/252913/move_base-tuning/?answer=253051#post-id-253051