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very fast rotation

asked 2014-08-01 01:59:05 -0500

dreamcase gravatar image

hi, all,

my robot is rotating very fast. it runs on move_base. although I have capped the rotation as below in the local path planner and rotate recovery

  max_vel_x: 0.45
  min_vel_x: 0.05
  max_rotational_vel: 0.2
  min_in_place_rotational_vel: 0.01

  acc_lim_th: 0.2
  acc_lim_x: 0.5
  acc_lim_y: 0

      max_rotational_vel: 0.2
      min_in_place_rotational_vel: 0.01
      acc_lim_th: 0.2

it still turns very fast. especially when the robot set off from its original position. the max rotational vel printed from cmd_vel topic is upto -1.0 the 0.2 cap seems only effective when robot reaches its destine and trying to adjust its final position.

other then the two rotational velocity about, is there any other place I should be concerning?



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the nomenclature might be different as @ahendrix mentioned. But I have had similar problems from bringing down the velocities too much. I don't know what the problem source is but increasing the overall velocities and accelerations moderated that problem for me.

2ROS0 gravatar image 2ROS0  ( 2014-08-02 23:15:29 -0500 )edit

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answered 2014-08-01 02:29:09 -0500

ahendrix gravatar image

You should probably also be setting the min_rotational_vel or min_vel_theta parameter to TrajectoryPlannerROS.

The other parameters to TrajectoryPlannerROS are described on the base_local_planner wiki page

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Asked: 2014-08-01 01:59:05 -0500

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Last updated: Aug 01 '14