change base_local_planner params min and max
When I run the rqt_reconfigure, I can see that some of the base_local_planner params can't be chosen outside certain limits. If we look at the package responsible for this we can see on the /opt/ros/fuerte/stacks/navigation/base_local_planner/cfg/BaseLocalPlanner.cfg file for example: (min = 0.0 and max = 20.0)
gen.add("min_vel_x", double_t, 0, "The minimum x velocity for the robot in m/s", 0.0, 0.0, 20.0)
What if I want the min and max to be different. For example, min = -5.0 and/or max = 25.0? How can I do this (without touching the original code if possible)?
Edit
ahendrix: I wonder if your answer is just a guess:
In fact, a negative minimum velocity does make sense (you give no evidence for why this does not make sense)!
Putting a negative value on my base_local_planner_param.yaml file make my robot able to move backwards when given a goal to move_base. While it doesn't at all when this value is >= 0.0 (or when I use the rqt_reconfigure to change params of course)
That's exactly the change I want to be able to do dynamically (i.e. without relaunching move_base with a new config file). As for the 25.0 change it was just a suggestion, and it would be great if Icould lower the max value (and many other max values) to avoid the uselessly high velocities possibilities.
Edit 2
Here's the solution I found. Copy the whole base_local_planner package, then modify the .cfg file on the copy. Rename the original package to avoid conflict with copy. Finally, compile the copy: it compiles with no problem! Every thing looks fine! I can now dynamically change configuration to make the robot move only backwards for the manoeuvres of my choice: it works perfectly.
(PS: Renaming a ROS installed package is not a healthy practice I guess. I could have modified the copy to make it compile with a complete new name. But... I am lazy)
