move_base + reconfigure_gui = strange behavior
Hi fellows,
I have been fiddling with the move_base trying to make it follow a sequence of poses I generated myself. To do so, I am using goal_passer from navigation_experimental package as the global planner
<param name="base_global_planner" value="goal_passer/GoalPasser">
Until now I was only getting suboptimal behavior, BUT for some reason I decided to check the parameters of TrajectoryPlannerROS with reconfigure_gui, and as soon as I opened it, my robot started to move perfectly!
Well, I thought that if I did not set some parameters, their default value should be used and that is what should be shown in the reconfiguregui (?!).
Anyway, I copied all the values the reconfigure
baselocalplannerparams.yaml
:
TrajectoryPlannerROS:
acclimx: 2.5
acclimy: 2.5
acclimth: 1
maxvelx: 1
minvelx: 0.2
maxveltheta: 1
minveltheta: 0
mininplaceveltheta: 0.4
simtime: 1.7
simgranularity: 0.025
pdistscale: 0.6
gdistscale: 0.8
occdistscale: 0.01
oscillationresetdist: 0.05
escaperesetdist: 0.1
escaperesettheta: 1.5708
vxsamples: 20
vthetasamples: 20
headinglookahead: 0.325
holonomicrobot: false
escapevel: -0.1
dwa: false
headingscoring: false
headingscoringtimestep: 0.1
simpleattractor: true
angularsim_granularity: 0.025
So, my question is: Why is this happening? Shouldn't movebase use the default values if I did not set them? And why as soon as I open TrajectoryPlannerROS in reconfiguregui, the behavior of move_base changes, as if it was changing parameters values?
Regards!
Asked by Procópio on 2011-12-28 21:41:34 UTC
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