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Where is the source code parameter for dwa_local_planner_params?

Hello. I am a ROS beginner. I am doing SLAM of turtlebot 2 in the ubuntu 14.04, ros (indigo) personal computer environment.

I would like to adjust dwalocalplanner_params directly from the source code, not as a parameter file. The reason is because we want to speed up the robot in real time. I want you to tell me which file you are reading from this parameter file. Thank you.

Asked by saito on 2018-11-26 03:25:11 UTC

Comments

Quite a few parameters of dwa_local_planner support dynamic_reconfigure access (docs). Have you checked whether that already covers what you'd like to achieve?

Editing sources to change parameters should be a last resort.

Asked by gvdhoorn on 2018-11-26 03:48:03 UTC

Thank you my friend. I have never checked it. and,I cant understand how to use dynamic_reconfigure. If anyone make it,I want to use one. Do you know the place where someone's files are located.

Asked by saito on 2018-11-27 05:20:44 UTC

If I understand you correctly: there is no need to edit any source code. The dwa_local_planner code already support dynamic reconfiguration of (most of) its parameters.

Try running rqt_reconfigure when you have the nav stack running.

Asked by gvdhoorn on 2018-11-27 07:05:00 UTC

Thanks. I try it!

Asked by saito on 2018-11-28 00:49:49 UTC

Answers