I have trouble changing the velocity of my robot.
Now,I'm studying ROS and using and my ROS robot,kobuki. However,I have trouble changing the velocity of the robot!
I set the maxvelx value to 0.1 of "kobukinavigation/param/dwalocalplannerparams.yaml" , and I launch ROS nodes with "kobukinavigation/launch/kobukinavigation.launch".Then the Terminal window displays "/movebase/DWAPlannerROS/maxvel_x: 0.1" in the parameters list.
However,when I operate my ROS robot with "2D Nav Goal" of RVIZ, the velocity of my robot is obviously faster than 0.1 m/s! I checked topic by "rostopic echo /cmd_vel",and then it shows "linier: x: 0.55"!! Why I can't change the velocity of my robot and what is the "0.55" of "linier: x: 0.55"?
(I tried setting not only 0.1 but also the other "maxvelx" value, for example 0.2, 0.3, the result is the same. )
Can you please give me information on that?
”Execution environment”
OS:ubuntu 14.04LTS
ROSver:indigo
I'll show "dwalocalplanner_params.yaml" and "kobuki_navigation.launch" below.
Here is "dwalocalplanner_params.yaml "
DWAPlannerROS:
# Robot Configuration Parameters - Kobuki
max_vel_x: 0.1
min_vel_x: 0.0
max_vel_y: 0.1
min_vel_y: 0.0
max_trans_vel: 0.1
min_trans_vel: 0.1
trans_stopped_vel: 0.1
max_rot_vel: 1.0
min_rot_vel: 0.4
rot_stopped_vel: 0.4
acc_lim_x: 0.05
acc_lim_theta: 2.0
acc_lim_y: 0.0
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.3
xy_goal_tolerance: 0.03
# Forward Simulation Parameters
sim_time: 1.0
vx_samples: 6
vy_samples: 1
vtheta_samples: 20
# Trajectory Scoring Parameters
path_distance_bias: 64.0
goal_distance_bias: 24.0
occdist_scale: 0.5
forward_point_distance: 0.325
stop_time_buffer: 0.2
scaling_speed: 0.25
max_scaling_factor: 0.2
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.05
# Debugging
publish_traj_pc : true
publish_cost_grid_pc: true
global_frame_id: odom
meter_scoring: true
Here is "kobuki_navigation.launch".
<launch>
<!-- kobuki model -->
<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find kobuki_description)/urdf/kobuki_standalone.urdf.xacro'" />
<param name="robot_description" command="$(arg urdf_file)" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="5.0" />
</node>
<!-- sensor -->
<node pkg="urg_node" type="urg_node" name="kobuki_urg_node" output="screen">
<param name="frame_id" value="base_scan" />
</node>
<!-- tf -->
<node pkg="kobuki_tf" type="kobuki_tf" name="kobuki_tf" output="screen">
</node>
<!-- Map server-->
<arg name="map_file" default="/home/nkc/Desktop/Map/Map.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
</node>
<!-- AMCL -->
<include file="$(find kobuki_navigation)/launch/amcl.launch.xml"/>
<!-- move_base -->
<arg name="cmd_vel_topic" default="/mobile_base/commands/velocity" />
<arg name="odom_topic" default="odom" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find kobuki_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find kobuki_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find kobuki_navigation)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find kobuki_navigation)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find kobuki_navigation)/param/dwa_local_planner_params.yaml" command="load" />
<rosparam file="$(find kobuki_navigation)/param/move_base_params.yaml" command="load" />
<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
</node>
</launch>
Asked by NKCT on 2016-11-04 01:22:10 UTC
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