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How to adjust speed of turtlebot in Gmapping?

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

Atom gravatar image

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

Mac gravatar image

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

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

Pi Robot gravatar image

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 gravatar imageAtom ( 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 gravatar imageAtom ( 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 gravatar imagePi Robot ( 2011-11-05 11:30:55 -0500 )edit

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

Seen: 1,066 times

Last updated: Nov 07 '11