move_base + reconfigure_gui = strange behavior [closed]

asked 2011-12-28 20:41:34 -0500

Procópio gravatar image

updated 2014-01-28 17:11:04 -0500

ngrennan gravatar image

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 reconfigure_gui (?!).

Anyway, I copied all the values the reconfigure_gui was showing to my parameters file, and launched the programs again. Wow! My robot was moving perfectly! My yaml file now looks like this:


  acc_lim_x: 2.5
  acc_lim_y: 2.5
  acc_lim_th: 1
  max_vel_x: 1
  min_vel_x: 0.2
  max_vel_theta: 1
  min_vel_theta: 0
  min_in_place_vel_theta: 0.4
  sim_time: 1.7
  sim_granularity: 0.025
  pdist_scale: 0.6
  gdist_scale: 0.8
  occdist_scale: 0.01
  oscillation_reset_dist: 0.05
  escape_reset_dist: 0.1
  escape_reset_theta: 1.5708
  vx_samples: 20
  vtheta_samples: 20
  heading_lookahead: 0.325
  holonomic_robot: false
  escape_vel: -0.1
  dwa: false
  heading_scoring: false
  heading_scoring_timestep: 0.1
  simple_attractor: true
  angular_sim_granularity: 0.025

So, my question is: Why is this happening? Shouldn't move_base use the default values if I did not set them? And why as soon as I open TrajectoryPlannerROS in reconfigure_gui, the behavior of move_base changes, as if it was changing parameters values?


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Closed for the following reason question is not relevant or outdated by tfoote
close date 2013-02-03 07:50:40