Can I reconfigure robot speed when navigation?

asked 2018-02-04 22:56:08 -0600

TifferPelode
96 ●9 ●12 ●17

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?

answered 2018-02-05 00:57:54 -0600

mgruhler

12390 ●32 ●193 ●173 https://github.com/mgruhler

updated 2018-02-06 08:06:18 -0600

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 ( 2018-02-05 03:21:46 -0600 )edit

great to hear. See edit above.

mgruhler ( 2018-02-06 08:04:49 -0600 )edit

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

TifferPelode ( 2018-02-07 01:33:02 -0600 )edit

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

violator ( 2020-12-31 02:42:52 -0600 )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 ( 2021-01-04 04:20:58 -0600 )edit

@mgruhler Yes. It does. And It works.

violator ( 2021-01-04 06:26:51 -0600 )edit

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