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Unify parameters names for local planner

asked 2015-09-16 07:15:35 -0500

osmancns gravatar image

Plugin dwa_local_planner uses path_distance_bias/goal_distance_bias/occdist_scale, but base_local_planner uses pdist_scale/gdist_scale/occdist_scale with the same semantics. the configuration for some robots, as Turtlebot : it uses base_local_planner but sets dwa_local_planner parameters.

https://github.com/turtlebot/turtlebo...

Something similar happens with other parameters min_in_place_rotational_vel/min_in_place_vel_theta or max_rotational_vel/max_vel_theta

so which ı used parameter names are important for planners ?

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answered 2015-09-18 18:40:19 -0500

makokal gravatar image

This is where namespaces are very useful, when setting the parameters, say in a launch file you can group things

<group ns="some-namespace"> <param ....> ... </group>

This way, even if some parameters have similar names, every node gets the right params

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I couldnt understand that how can ı use your codes exactly.

osmancns gravatar image osmancns  ( 2015-09-28 02:34:12 -0500 )edit

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Asked: 2015-09-16 07:15:35 -0500

Seen: 246 times

Last updated: Sep 18 '15