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Base Local Planner Configuration

asked 2014-09-08 18:15:38 -0500

Pototo
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Hi,

In my deferentially steered drive system based robot my values for acceleration and deceleration are different (that was the best option, based on experimentation).

How does this affect:

acc_lim_x:
acc_lim_y:

in terms of performance?

How can I include the separation between acceleration and deceleration?

Is it recommended to always have the same value for both acceleration and deceleration? If so, why?

Thanks

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answered 2014-09-08 21:47:38 -0500

SaiHV
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In base local planner, there is a file called latched_stop_rotate_controller.cpp. In that function, the stop command is implemented using LatchedStopRotateController::stopWithAccLimits() [line 108] which uses acc_lim as an argument. I think you can define your own, say, decel_lim and use that instead in this function. I am not entirely sure as to whether they should be kept the same from the code's perspective though.

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Asked: 2014-09-08 18:15:38 -0500

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Last updated: Sep 08 '14

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