Max_vel_theta limit not taken into account

asked 2015-04-20 09:06:32 -0500

julienH gravatar image


We are setting up the navigation stack in our robot. The maximum rotational speed of the robot is 0.628 rad/s (+/- 0.628 rad/s).

In order to take this limit, we have defined the max_rotational_vel parameter to 0.628 in the file base_local_planner_params.yaml.

TrajectoryPlannerROS: max_vel_x: 0.5 min_vel_x: 0.01 max_rotational_vel: 0.628 min_in_place_rotational_vel: 0.01

This parameter is not considered. Indeed, when we set a goal point in RVIZ, the speed sends on cmd_vel exceed 0.628 rad/s (more than 1 most of the time).

Could you help me? Best regards

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I have the same problem. Google shows me that there are others too. Has any solution been found ? This could be quite unsafe. cmd_vel tries to make the robot turn far too fast.

elpidiovaldez gravatar image elpidiovaldez  ( 2016-10-08 19:44:00 -0500 )edit