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max_vel_theta not honored by TrajectoryPlannerROS ?

asked 2016-10-08 20:33:24 -0500

elpidiovaldez
142 ●22 ●31 ●36

move_base tries to turn my robot too fast, although I believe that I set limits correctly.

My questions are:

Am I doing something wrong ?
Is this a bug ?
What is the solution ?

My parameter file is:

TrajectoryPlannerROS:
  max_vel_x: 0.07
  min_vel_x: 0.04
  max_vel_theta: 0.4
  min_vel_theta: -0.4
  min_in_place_vel_theta: 0.2

  acc_lim_theta: 0.2
  acc_lim_x: 0.2
  acc_lim_y: 0.2

  holonomic_robot: false

I have checked by rosparam and rqt_reconfigure that the limits on theta are being set correctly.

The problem seems to be that in-place rotations always emit cmd_vel with theta of 1.0:

linear: 
  x: 0.0
  y: 0.0
  z: 0.0
angular: 
  x: 0.0
  y: 0.0
  z: 1.0

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answered 2016-10-10 05:41:04 -0500

Humpelstilzchen

1504 ●4 ●20 ●21

Its probably the in-place rotations by rotate recovery. Set max_rotational_vel to change that.

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Yes, that was exactly the problem. Thank you very much.

I added max_rotational_vel=0.4 to base_local_planner_params.yaml and angular.z was limited correctly. I had not seen that parameter in rqt_reconfigure and did not know it existed.

elpidiovaldez ( 2016-10-11 22:03:52 -0500 )edit

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Asked: 2016-10-08 20:33:24 -0500

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Last updated: Oct 10 '16

max_vel_theta not honored by TrajectoryPlannerROS ? edit

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max_vel_theta not honored by TrajectoryPlannerROS ?