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navigation yields velocity on Y axis

asked 2014-06-14 08:55:57 -0500

dreamcase
91 ●28 ●31 ●34

updated 2014-06-14 08:57:09 -0500

hi, all,

I am using navigation stack, move_base, for a simple navigation implementation. my base is driven by two differential wheels, and rotates using speed difference between the two driving wheels. i.e. only speed on X axis and rotational speed

from time to time, speed on Y axis is received on "cmd_vel" topic, and the base doesn't know what to do with it. how do I configure the move_base properly so that it generates velocity command that suits my robot base?

   ---
    linear: 
      x: 0.105263157895
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.157894736842
    ---
    linear: 
      x: 0.1
      ***y: -0.1***
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0

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answered 2014-06-14 12:02:16 -0500

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

I suspect you have your local planner configured for a holonomic base, when your base isn't actually holonomic.

Without knowing exactly which local planner you're using, it's difficult to say exactly how to fix this. Fox example, base_local_planner has a parameter called ~/holonomic_robot that you can set to false to disable this behavior, but I think the configuration is different for the dwa_local_planner

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yes. that was the reason. thanks.

dreamcase ( 2014-06-15 12:03:52 -0500 )edit

Had the same issue. it seems that the dwa_local_planner does not handle non-holonomic vehicles. Changed it to base_local_planner and it works like a charm.

tik0 ( 2018-06-10 03:09:49 -0500 )edit

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Asked: 2014-06-14 08:55:57 -0500

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Last updated: Jun 14 '14

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navigation yields velocity on Y axis