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escape behavior change

asked 2014-07-30 05:51:12 -0600

dreamcase gravatar image

hi, all,

on my robot, the escape behaviour in move_base navigation stack is too 'fierce'. the rotation is much too fast.

how can I change it?



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Or, is there a way to inhibit the rotatory recovery behaviour?

dreamcase gravatar image dreamcase  ( 2014-07-30 09:59:28 -0600 )edit

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answered 2014-07-30 10:41:20 -0600

David Lu gravatar image

The parameters for configuring the recovery behaviors are listed here:

You can remove the recovery behaviors by configuring the recovery_behaviors parameter.

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thanks David, are they both set in base_local_planner_params.yaml? under "TrajectoryPlannerROS"

dreamcase gravatar image dreamcase  ( 2014-07-30 11:28:03 -0600 )edit

Probably. I don't know what your exact configuration is, but you can set them there. If you want them to be different than your normal path planning parameters, you have to set them somewhere else under the rotate_recovery namespace.

David Lu gravatar image David Lu  ( 2014-07-30 12:45:45 -0600 )edit

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Asked: 2014-07-30 05:51:12 -0600

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Last updated: Jul 30 '14