how to change the Rotating speed of "rotate_recovery" in move_base
Hello everyone, I have a question ,the rotating speed of "rotaterecovery" in movebase is too fast for my own robot.I want to slow down the speed of "rotate_recovery". Does anyone know which part of the code should be changed or just modify some parameters to solve this problem?
Asked by fighterxi on 2019-01-10 05:26:36 UTC
Answers
I am sorry to bother you, I found how to modify the speed of "rotate_recovery" myself .It is a file called “rotate_recovery.cpp” in “navigation-indigo-devel/rotate_recovery/src” (ubuntu 14.04 indigo ). There are some params in this cpp：
blp_nh.param("acc_lim_th", acc_lim_th_, 3.2);
blp_nh.param("max_rotational_vel", max_rotational_vel_, 1.0);
blp_nh.param("min_in_place_rotational_vel", min_rotational_vel_, 0.4);
We can change the rotation speed by modifying these parameters. :-)
Asked by fighterxi on 2019-01-10 09:00:48 UTC
Comments