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How can I revise the velocity that ROS set for robot navigation

asked 2012-01-17 00:51:14 -0500

letmoon gravatar image

Hello, everyone.

I am fresh to use ROS. I am now able to control a mobile robot with teleop, and have already built a room-environment map by using gmapping.

After that, I tried to make the robot to perform a navigation task. I first pressed "pose estimation" of rviz'GUI and then pointed an approximate pose for the robot in rviz's map. Then pressed "Nav Goal", and followed by telling robot a position to go.

And the problem occurs, the robot began moving and sometimes it just tremble while moving on the way to the goal position. Someone suggested that it might be due to the velocity that ROS configured.

So, how i can revise it or do something else.

Thanks.

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answered 2012-01-17 01:16:04 -0500

DimitriProsser gravatar image

See this tutorial for navigation configuration, and this tutorial for set up and configuration.

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answered 2012-01-17 01:03:36 -0500

raahlb gravatar image

Have you set up the navigation stack according to the tutorial? Then you should have a file called base_local_planner_params.yaml or some such. You can add limits there for the robot's movement. The parameters are described on this page: http://www.ros.org/wiki/base_local_planner

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answered 2012-01-31 01:41:44 -0500

letmoon gravatar image

updated 2012-01-31 01:53:08 -0500

I am using a robotion of FESTO, and FESTO's engineers provided a robotino-ros-pkg in which there are several nodes including tele-operation via keyboard, navigation node consisting of a gmapping launch file and a navigation launch file, and something else. I just installed a ROS on my virtual machine ubuntu 10.04.

And I installed robotino's package on virtual machine. Actually, ROS system doesn't need to install on the robotino. They provided their owned API, and the operation mode is just like server/client while I was controling the robot via teleop-node which is a wireless remote control using keyboard keys.

Perhaps the sensor data are send to ROS system of my VM in this way. The map was built via gmapping algorithm just based on the sensor data it received. I checked the nodes connection with rxgraph, and everything works fine.

As I just learnt ROS for a few days, and was interrupted by other affairs. I just turned back and try to solve it. And I ve just read on-line document of building navigation stack and related parts of RobotSetup. It looked like that the stack should be palced on the robot system rather than the local work station or PC.

So, could anyone give some advices about the way they build the navigation stack or package.

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Asked: 2012-01-17 00:51:14 -0500

Seen: 777 times

Last updated: Jan 31 '12