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max_vel_theta parameter?

asked 2015-12-23 19:03:16 -0500 gravatar image

Hi everyone,

In the source code "trajectory_planner_ros.cpp" of base_local-planner, I didn't see it retrieve the value of the parameter max_vel_theta. (You can confirm it with following command)

grep -R 'param("max_vel_theta"' *    // I got a empty response

But in my test, the parameter value DID control the in_place rotational velocity when the robot start to move to a goal. Is there anybody can tell me how the parameter value work??


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Seems that trajectory_planner.cpp fetches it from dynamic reconfigure. According to this answer dynreconf might get its value from the parameter server.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2015-12-25 02:08:13 -0500 )edit

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answered 2015-12-28 01:12:03 -0500 gravatar image

It's retrieved from dynamic_reconfigure. The dynamic_reconfigure callback will be called once when the node is up.

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Asked: 2015-12-23 19:03:16 -0500

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Last updated: Dec 28 '15