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how to change the Rotating speed of "rotate_recovery" in move_base

asked 2019-01-10 04:26:36 -0500

fighterxi gravatar image

Hello everyone, I have a question ,the rotating speed of "rotate_recovery" in move_base 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?

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answered 2019-01-10 08:00:48 -0500

fighterxi gravatar image

updated 2019-01-10 08:01:18 -0500

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. :-)

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Asked: 2019-01-10 04:26:36 -0500

Seen: 167 times

Last updated: Jan 10 '19