How to adjust speed of turtlebot in Gmapping?

asked 2011-11-04 16:57:31 -0500

Atom
458 ●9 ●19 ●28

updated 2011-11-07 07:37:49 -0500

4119 ●27 ●62 ●83 http://www.cs.duke.edu/~mac

I was looking through some of the launch and node files and wasn't sure where to begin with adjusting turtlebots speed when executing a goal in gmapping or amcl? I want the robot to move a bit slower to clean up some of the jerkyness. Also like to include that I am using Diamondback on 10.10 with updated and basically stock turtlebot files(with the exception of adjusting the teleop packages to slow speed). I am assuming the gmapping works differently than the teleop. Am I wrong? Any advice appreciated

answered 2011-11-05 01:49:04 -0500

Pi Robot
4046 ●134 ●158 ●192 http://www.pirobot.org/

Hi Atom,

I haven't tried this with my TurtleBot, but I think you can lower the max_vel_x parameter in the file base_local_planner_params.yaml which is found in the config directory of the turtlebot_navigation package. The default value is 0.50 m/s. You might also try tweaking some other parameters in that file such as:

  min_vel_x: 0.10
  max_rotational_vel: 1.5
  min_in_place_rotational_vel: 1.0
  acc_lim_th: 0.75
  acc_lim_x: 0.50
  acc_lim_y: 0.50

--patrick

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I changed values in the params.yaml as you suggested. Seems to do the trick. Although I did notice that my mapping with turtlebot in rviz was a bit faster in rotation than in reality. Which gave me a inaccurate map. So I ended up matching the values from my teleop.launch and that helped...

Atom ( 2011-11-05 09:37:04 -0500 )edit

I also reduced all the parameters you listed in half. ( trying to reduce the original speed by 1/2) Works better for me now, Although I will try using turtlebot calibrate to clean things up, or just keep playing with the numbers till I find the sweet spot.. Thanks Patrick

Atom ( 2011-11-05 09:42:26 -0500 )edit

Great! If you are happy with the answer, please click on the little checkmark above (only you can do that) and then the answer will appear as "answered" in the index.

Pi Robot ( 2011-11-05 11:30:55 -0500 )edit

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