eband_local_planner's command velocity is low
I use the eband_local_planner as the base_local_planner for my four mecanum wheels base, and the eband_local_planner_params is as follows:
EBandPlannerROS:
xy_goal_tolerance: 0.03
yaw_goal_tolerance: 0.05
rot_stopped_vel: 0.01
trans_stopped_vel: 0.01
marker_lifetime: 0.5
eband_min_relative_overlap: 0.7
eband_tiny_bubble_distance: 0.01
eband_tiny_bubble_expansion: 0.01
eband_internal_force_gain: 1.0
eband_external_force_gain: 2.0
num_iterations_eband_optimization: 3
eband_equilibrium_approx_max_recursion_depth: 4
eband_equilibrium_relative_overshoot: 0.75
eband_significant_force_lower_bound: 0.15
costmap_weight: 10.0
max_vel_lin: 0.8
max_vel_th: 0.6
min_vel_lin: 0.1
min_vel_th: 0.0
min_in_place_vel_th: 0.2
in_place_trans_vel: 0.0
k_prop: 4.0
k_damp: 3.5
Ctrl_Rate: 10.0
max_acceleration: 1.0
virtual_mass: 0.75
max_translational_acceleration: 1.0
max_rotational_acceleration: 1.2
rotation_correction_threshold: 0.5
differential_drive: false
bubble_velocity_multiplier: 2.0
rotation_threshold_multiplier: 1.0
disallow_hysteresis: false
From the above configure parameters, I have set the "max_vel_lin" is 0.8 m/s . But in the test, I have found that the robot's max_speed is only 0.43m/s. I have tune some parameters: k_drop, k_damp, eband_tiny_bubble_distance, etc. I have increase and decrease such parameters, but the robot's max_speed is also about 0.43 m/s. I don't know how to tune which parameters to increase the robot's speed. By the way , I use dwa_local_planner the robot's max_speed can meet the requirements.