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Confusing parameters in base_local_planner

Hi all,

I'm running ROS distribution indigo and I'm quite confused in the baselocalplanner parameters.

Based on the official wiki page(http://wiki.ros.org/base_local_planner), the only parameter for in-place rotation is "mininplaceveltheta".

But in my experiment, things are quite different. I found:

  1. maxveltheta & minveltheta seems effect the in-place rotation vel when the robot start moving to a goal.
  2. maxrotationalvel (this parameter is not listed in the wiki page, I found it in the src code) seems effect the in-place rotation vel when the robot reached to a goal.
  3. I don't know what the parameter "mininplaceveltheta" exactly.. but in the following code, it looks like the correct parameter name SHOULD be "mininplacerotationalvel"

https://github.com/ros-planning/navigation/blob/indigo-devel/base_local_planner/src/trajectory_planner_ros.cpp

Those parameter names is so confused to me. Any comment??

Kevin Kuei

Asked by kevin.kuei.0321@gmail.com on 2015-12-14 02:28:41 UTC

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