navigation on map with Husky is very slow

asked 2014-10-22 04:37:27 -0500

est_CEAR gravatar image

updated 2015-02-03 07:39:25 -0500


I am navigating on a map with a husky robot and the navigation is very very slow. I changed velocity parameters in move_base and it is better, but it is still very slow. Moreover, the path planning is quite strange : there are unnecessary rotations and loops.

Instead of going straight away, it always slides when publishing :

$rostopic pub -r 4 /husky/cmd_vel_unsafe geometry_msgs/Twist '{linear: {x: 1.0, y: 0.0, z: 0.0 }, angular: {x: 0.0, y: 0.0, z: 0.0 } }'

Does anyone have any idea?

Thank you very much

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why the topic is /cmd_vel_unsafe. Should it be /cmd_vel ?

dmngu9 gravatar image dmngu9  ( 2015-02-04 23:53:56 -0500 )edit

Hi, you can use /cmd_vel for "safety navigation" : the Husky moves only when you remap the topic using the joystick. I uesd /husky/cmd_vel_unsafe because I din't want to have to use the joystick in simulation

est_CEAR gravatar image est_CEAR  ( 2015-02-05 07:16:04 -0500 )edit