Path Planning Dynamical Reconfiguration

asked 2018-05-18 02:11:29 -0500

savafra
11 ●1 ●1 ●2

Hi all, This is my first question so first of all nice to meet you and thank you in advance for any help you can give me

That's my problem: I am using the navigation stack and what I would like to do is to reconfigure the speed of the robot at runtime. I don't know how to tackle the problem. I found that there is something like dynamical reconfiguration node but I didn't really understand it.

A related question is: when I setup the speed at runtime I should also resend a goal to the robot or the new speed is "automatically" updated ?

Just a detail, I am using ROS Kinetic kame.

Thank you very much for reading my question.

Regards, Francesco

answered 2018-05-22 10:45:38 -0500

bpinaya

700 ●4 ●13 ●19 https://www.bpinaya.com/

Hi there Francesco, yes indeed, dynamical reconfiguration means that you can change some parameters for move_base.

When you run your code, try running (in another terminal, with your workspace sourced):

rosrun rqt_reconfigure rqt_reconfigure

And you'll see a window like this:

image description

There you can modify some parameters like maximum speed, acceleration and others, that those values will be updated automatically, meaning that if you increase the maximum velocity, you'll see your robot moving faster as you plan.

I hope that helps!

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Hi and thank you for your answer. Actually I know about rqt_reconfigure. Anyway I should change the speed using messages for example. I should readapt the speed according to some user commands and not manually.

Also the GUI doesn't appear always in the right way so I don't really know the parameter

savafra ( 2018-05-28 00:05:10 -0500 )edit

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