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Can I reconfigure robot speed when navigation?

asked 2018-02-04 22:56:08 -0500

TifferPelode gravatar image

Hello everyone, now I have a task about navigation. I want my robot to have different speeds in different environments. Just like this:

  • At corridor : 0.5m/s

  • At parlor : 0.25m/s

  • etc...

    Now my question is how to reconfigure my robot's speed when navigation? This is my design step:

  • First, Navigate to a place.

  • When it finished, reconfigure robot speed.

  • Then navigate to next place.

    Can anyone tell me if it is possible?

    Or there are other way to do this?

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answered 2018-02-05 00:57:54 -0500

mgruhler gravatar image

updated 2018-02-06 08:06:18 -0500

You could use dyanmic_reconfigure to change (Maximum) velocities on the fly, if it is implemented in the respective local planner.

E.g.

  • base_local_planner has max_vel_x and min_vel_x dynamically configureable.
  • dwa_local_planner seems to have the same.

For other local planners, you'd have to check.


EDIT

There is a python Client. And it seems that a C++ Client has been merged as well, though there is no documentation.

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It actually work! thx.

And now I want to know how to adjustment the value automatic rather than in GUI ?

TifferPelode gravatar image TifferPelode  ( 2018-02-05 03:21:46 -0500 )edit

great to hear. See edit above.

mgruhler gravatar image mgruhler  ( 2018-02-06 08:04:49 -0500 )edit

Thank you for your patience to answer my question! ;)

TifferPelode gravatar image TifferPelode  ( 2018-02-07 01:33:02 -0500 )edit

@TifferPelode Can you please mention how you adjust the values programmatically rather than using the GUI?

violator gravatar image violator  ( 2020-12-31 02:42:52 -0500 )edit

@violator this is what the clients above are for. You change the values programmatically using the links in the edit I provided above. Does this answer your question?

mgruhler gravatar image mgruhler  ( 2021-01-04 04:20:58 -0500 )edit
1

@mgruhler Yes. It does. And It works.

violator gravatar image violator  ( 2021-01-04 06:26:51 -0500 )edit

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Asked: 2018-02-04 22:56:08 -0500

Seen: 230 times

Last updated: Feb 06 '18